69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.3s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.1s | 12 errors · 312 warnings · 1393 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/2026-08-25-22-04-31-900782-8e9812328a5f-9166 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.49sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 13.51sINFOstatic_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' + 13.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.59sINFOcontroller_managerupdate rate is 600 Hz + 13.59sINFOcontroller_managerOverruns handling is : enabled + 13.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.59sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379961 ms (missed cycles : 3). + 13.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.73sINFOros2_control_node-9process started with pid [9224] ×2 + 13.74sINFOmove_group-21process started with pid [9331] ×2 + 13.74sINFOparameter_manager_node-22process started with pid [9332] ×2 + 13.74sINFOwaypoint_manager_node-23process started with pid [9333] ×2 + 13.74sINFOmove_joint_resampler_node-24process started with pid [9334] ×2 + 13.74sINFOmove_end_effector_resampler_node-25process started with pid [9335] ×2 + 13.74sINFOobjective_server_node_main-26process started with pid [9336] ×2 + 13.74sINFOcomponent_container_mt-27process started with pid [9337] ×2 + 13.74sINFOcomponent_container_mt-28process started with pid [9338] ×2 + 13.74sINFOexecute_objective_bridge-29process started with pid [9339] ×2 + 13.74sINFOui_teleop_bridge-30process started with pid [9340] ×2 + 13.74sINFOweb_bridge-31process started with pid [9341] ×2 + 13.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.76sINFOtf2_web_republisher_node-32process started with pid [9342] ×2 + 13.76sINFOvideo_server-33process started with pid [9343] ×2 + 13.76sINFOweb_bridge_auth_proxy-34process started with pid [9344] ×2 + 13.76sINFOweb_video_auth_proxy-35process started with pid [9345] ×2 + 13.77sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.78sINFOcomponent_container_isolated-1process started with pid [9216] ×2 + 13.78sINFOcomponent_container_isolated-2process started with pid [9217] ×2 + 13.78sINFOstatic_transform_publisher-3process started with pid [9218] ×2 + 13.78sINFOstatic_transform_publisher-4process started with pid [9219] ×2 + 13.78sINFOodom_qos_relay.py-5process started with pid [9220] ×2 + 13.78sINFOforward_stereo_publisher.py-6process started with pid [9221] ×2 + 13.78sINFOscan_to_scan_filter_chain-7process started with pid [9222] ×2 + 13.78sINFOscan_to_scan_filter_chain-8process started with pid [9223] ×2 + 13.78sINFOros2-10process started with pid [9302] ×2 + 13.78sINFOros2-11process started with pid [9303] ×2 + 13.78sINFOros2-12process started with pid [9304] ×2 + 13.78sINFOros2-13process started with pid [9305] ×2 + 13.78sINFOros2-14process started with pid [9306] ×2 + 13.78sINFOros2-15process started with pid [9324] ×2 + 13.78sINFOros2-16process started with pid [9326] ×2 + 13.78sINFOros2-17process started with pid [9327] ×2 + 13.78sINFOros2-18process started with pid [9328] ×2 + 13.78sINFOros2-19process started with pid [9329] ×2 + 13.78sINFOros2-20process started with pid [9330] ×2 + 13.79sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.86sINFOcontroller_serverCreating controller server + 13.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.89sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.89sINFOlocal_costmap.local_costmapCreating Costmap + 13.92sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.94sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.98sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.98sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.98sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.98sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.98sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.98sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.98sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.98sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.98sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.98sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.98sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379961 ms (missed cycles : 3).[0m ×2 + 13.98sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.02sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.02sINFOsmoother_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. + 14.04sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.05sINFOmap_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. + 14.05sINFOmap_serverCreating + 14.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.07sINFOsmoother_serverCreating smoother server + 14.08sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.09sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.09sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.10sINFOrobot_state_publisherRobot initialized + 14.10sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.11sINFOcontroller_managerReceived robot description from topic. + 14.11sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.11sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.11sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.15sINFOplanner_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. + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.16sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.17sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.17sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.17sINFOplanner_serverCreating + 14.17sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.17sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.19sINFOlifecycle_manager_localizationCreating + 14.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.21sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.22sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.22sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.23sINFOmap_serverConfiguring + 14.23sINFOglobal_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. + 14.24sINFOglobal_costmap.global_costmapCreating Costmap + 14.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.27sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.31sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.32sINFObehavior_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. + 14.32sINFOamclConfiguring + 14.33sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.33sINFOmap_serverActivating + 14.33sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.35sINFOvideo_server2026/08/25 22:04:49 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.35sINFOvideo_server2026/08/25 22:04:49 INF configuration loaded from /tmp/moveit-webrtc-3mhzy0pb/mediamtx.yml ×2 + 14.35sINFOvideo_server2026/08/25 22:04:49 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.35sINFOvideo_server2026/08/25 22:04:49 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.44sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.44sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.44sINFOamclActivating + 14.44sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.44sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.45sINFOamclSubscribed to map_topic: /map + 14.45sINFOamclSubscribed to scan_topic: /scan_merged + 14.45sINFOamclCreated reinitialize_global_localization service + 14.45sINFOamclCreated request_nomotion_update service + 14.46sINFOamclA new map was received + 14.47sINFOamclInitializing particle filter instance + 14.49sINFObt_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. + 14.51sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.51sWARNlaser_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. + 14.51sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.51sINFObt_navigatorCreating + 14.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.59sINFOwaypoint_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. + 14.59sINFOwaypoint_followerCreating + 14.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.65sINFOvelocity_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. + 14.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.69sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.459948 seconds + 14.69sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.69sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.70sINFOmove_groupLoaded robot model in 0.459948 seconds[0m ×2 + 14.70sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.70sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.71sINFOlifecycle_manager_navigationCreating + 14.74sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091374 ms (missed cycles : 2). + 14.77sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.77sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.77sINFOcontroller_serverConfiguring controller interface + 14.77sINFOcontroller_servergetting progress checker plugins.. + 14.77sINFOcontroller_servergetting goal checker plugins.. + 14.77sINFOcontroller_serverController frequency set to 20.0000Hz + 14.77sINFOlocal_costmap.local_costmapConfiguring + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091374 ms (missed cycles : 2).[0m ×2 + 14.78sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.79sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.81sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.81sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.81sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.84sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.84sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.85sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.85sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.86sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.88sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.89sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.89sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.90sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.90sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.90sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.90sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.91sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.91sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.92sINFOcontroller_serverOptimizer reset ×2 + 14.93sINFOcontroller_serverController Server has FollowPath controllers available. + 14.94sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.94sINFOsmoother_serverConfiguring smoother server + 14.95sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.95sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.97sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.97sINFOplanner_serverConfiguring + 14.97sINFOglobal_costmap.global_costmapConfiguring + 14.97sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.99sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.99sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.99sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.00sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.03sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.03sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.03sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.05sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.05sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.06sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.07sINFOplanner_serverPlanner Server has GridBased planners available. + 15.09sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.09sINFObehavior_serverConfiguring + 15.11sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.11sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.12sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.12sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.13sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.13sINFObehavior_serverConfiguring spin + 15.15sINFObehavior_serverConfiguring backup + 15.16sINFObehavior_serverConfiguring drive_on_heading + 15.17sINFObehavior_serverConfiguring assisted_teleop + 15.18sINFObehavior_serverConfiguring wait + 15.21sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.22sINFObt_navigatorConfiguring + 15.24sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.31sWARNbt_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 + 15.58sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.58sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.58sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.58sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.59sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.65sINFOamclParticle filter initialization completed + 15.65sINFOamclInitializing particles from estimated pose and covariance + 15.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.67sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.67sINFOwaypoint_followerConfiguring + 15.68sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 15.68sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 15.70sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.71sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.71sINFOvelocity_smootherConfiguring velocity smoother + 15.72sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.72sINFOcontroller_serverActivating + 15.72sINFOlocal_costmap.local_costmapActivating + 15.72sINFOlocal_costmap.local_costmapChecking transform + 15.72sINFOlocal_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. ×4 + 15.74sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.74sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.75sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.75sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.80sINFOwaypoint_manager_nodeLoaded robot model in 0.479155 seconds[0m ×2 + 15.80sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.80sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810868 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810868 ms (missed cycles : 3).[0m ×2 + 15.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.99sWARNmove_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 + 16.00sWARNmove_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. + 16.00sWARNmove_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. + 16.01sWARNmove_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 + 16.01sWARNmove_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 + 16.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.62sINFOmove_group[2026-08-25 22:04:51.899] [moveit_pro_license] [info] ×2 + 16.62sINFOmove_group************************************************* ×4 + 16.62sINFOmove_group* MoveIt Pro License ×2 + 16.62sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323446 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323446 ms (missed cycles : 2).[0m ×2 + 17.01sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.01sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.01sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.01sWARNros2_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 + 17.01sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.01sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.01sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.01sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.01sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.01sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.01sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.01sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.01sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.01sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.01sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.01sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.01sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.01sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.01sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.01sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.01sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.01sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.01sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.01sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.01sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.02sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.02sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.02sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.02sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.02sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.02sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.02sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.02sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.02sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.02sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.02sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.02sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.02sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.02sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.02sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.02sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.02sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.02sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.02sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.05sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.05sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.05sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.06sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.06sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.06sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.07sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.07sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.07sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.07sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.07sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.07sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.07sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.07sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.07sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.08sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.08sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.20sINFOwaypoint_manager_node[2026-08-25 22:04:52.473] [moveit_pro_license] [info] ×2 + 17.20sINFOwaypoint_manager_node************************************************* ×4 + 17.20sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.20sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 17.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 17.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.29sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 17.29sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 17.29sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 17.30sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.31sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 17.46sINFOamclParticle filter update iteration stats: 2146 particles 723 points - 3.510ms + 17.57sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.58sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.59sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.69sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.69sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.69sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.69sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.69sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 17.69sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 17.71sINFOros2-12process has finished cleanly [pid 9304] ×2 + 17.72sINFOlocal_costmap.local_costmapstart + 17.75sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.75sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.76sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.76sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.76sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.76sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.77sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.77sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 17.82sWARNcontroller_serverParameter controller_server.verbose not found + 17.82sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 17.83sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.93sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 17.93sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 17.93sINFOsmoother_serverActivating + 17.93sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 17.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083807 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083807 ms (missed cycles : 2).[0m ×2 + 18.04sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.04sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.04sINFOplanner_serverActivating + 18.04sINFOglobal_costmap.global_costmapActivating + 18.04sINFOglobal_costmap.global_costmapChecking transform + 18.04sINFOglobal_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 1787695493.304460 but the earliest data is at time 1787695493.615172, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.06sINFOobjective_server_node[2026-08-25 22:04:53.335] [moveit_pro_license] [info] ×2 + 18.06sINFOobjective_server_node************************************************* ×4 + 18.06sINFOobjective_server_node* MoveIt Pro License ×2 + 18.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.12sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.12sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.14sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 18.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 18.15sINFOobjective_server_nodeLoaded robot model in 0.0391099 seconds[0m ×2 + 18.15sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.15sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.16sINFOros2-11process has finished cleanly [pid 9303] ×2 + 18.16sWARNcomponent_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 + 18.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 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18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.22sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.24sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.24sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.25sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.25sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.25sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.25sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.25sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.25sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.25sINFOstreaming_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) + 18.25sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.26sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.26sINFOplatform_velocity_controllerconfigure successful + 18.26sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787695492.415 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.26sINFOros2_control_nodeconfigure successful[0m ×6 + 18.26sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.27sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.27sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.51sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.54sINFOstreaming_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) + 18.54sINFOcomponent_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 + 18.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.54sINFOglobal_costmap.global_costmapstart + 18.56sINFOcomponent_container_mtLoaded robot model in 0.404817 seconds[0m ×2 + 18.56sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.56sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 18.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 18.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 18.59sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 18.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 18.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 18.65sINFOros2-13process has finished cleanly [pid 9305] ×2 + 18.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 18.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 18.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 18.72sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 18.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 18.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 18.72sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 18.72sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 18.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 18.72sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 18.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 18.72sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 18.73sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.73sWARNobjective_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. + 18.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.74sWARNobjective_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 + 18.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 18.74sWARNobjective_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 + 18.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.81sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.81sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.83sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.89sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.89sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.95sWARNros2_control_nodeCamera render tick took 0.71 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 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944649 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944649 ms (missed cycles : 2).[0m ×2 + 19.11sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.11sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.11sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.11sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.12sWARNplanning_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. + 19.12sWARNcomponent_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 + 19.12sWARNcomponent_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 + 19.12sWARNplanning_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. + 19.12sWARNplanning_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. + 19.12sWARNcomponent_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 + 19.12sWARNcomponent_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 + 19.12sWARNplanning_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. + 19.12sWARNplanning_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. + 19.12sWARNcomponent_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 + 19.12sWARNcomponent_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 + 19.12sWARNplanning_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. + 19.12sWARNplanning_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. + 19.12sWARNcomponent_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 + 19.12sWARNcomponent_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 + 19.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.13sWARNplanning_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. + 19.13sINFOmove_groupMoveGroup debug mode is ON + 19.13sWARNplanning_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. + 19.13sWARNcomponent_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 + 19.13sWARNcomponent_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 + 19.13sWARNplanning_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. + 19.13sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.13sWARNplanning_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. + 19.13sWARNcomponent_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 + 19.13sWARNcomponent_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 + 19.13sWARNplanning_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. + 19.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.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 + 19.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.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 + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNplanning_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. + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.14sWARNcomponent_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 + 19.15sINFOros2-16process has finished cleanly [pid 9326] ×2 + 19.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.19sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.19sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.20sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 19.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 19.30sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 19.30sINFOmove_group ×8 + 19.30sINFOmove_group******************************************************** ×4 + 19.30sINFOmove_group* MoveGroup using: ×2 + 19.30sINFOmove_group* - apply_planning_scene_service ×2 + 19.30sINFOmove_group* - clear_octomap_service ×2 + 19.30sINFOmove_group* - get_group_urdf ×2 + 19.30sINFOmove_group* - load_geometry_from_file ×2 + 19.30sINFOmove_group* - get_planning_scene_service ×2 + 19.30sINFOmove_group* - kinematics_service ×2 + 19.30sINFOmove_group* - save_geometry_to_file ×2 + 19.30sINFOmove_group* - GetPlanningGroups ×2 + 19.30sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.31sINFOmove_group[0m ×2 + 19.31sINFOmove_group[92mYou can start planning now![0m ×2 + 19.32sINFOcomponent_container_mt[2026-08-25 22:04:54.602] [moveit_pro_license] [info] ×2 + 19.32sINFOcomponent_container_mt************************************************* ×4 + 19.32sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.32sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.33sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 19.33sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 19.33sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.33sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 19.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.59sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 19.59sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 19.70sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 19.70sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 19.70sINFObehavior_serverActivating + 19.70sINFObehavior_serverActivating spin + 19.70sINFObehavior_serverActivating backup + 19.70sINFObehavior_serverActivating drive_on_heading + 19.70sINFObehavior_serverActivating assisted_teleop + 19.70sINFObehavior_serverActivating wait + 19.70sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 19.73sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.73sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.81sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 19.81sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 19.81sINFObt_navigatorActivating + 19.83sINFOros2_control_node[2026-08-25 22:04:55.106] [info] Controller state will be published at 20 Hz. ×2 + 19.83sINFOros2_control_node[2026-08-25 22:04:55.108] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.89sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 19.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.99sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 19.99sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 19.99sINFOwaypoint_followerActivating + 19.99sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148286 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148286 ms (missed cycles : 2).[0m ×2 + 20.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.10sINFOvelocity_smootherActivating + 20.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.19sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.19sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.19sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.20sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.20sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.20sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 20.22sINFOros2-20process has finished cleanly [pid 9330] ×2 + 20.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 20.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 20.32sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.32sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.68sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.82sINFOros2_control_node[2026-08-25 22:04:56.095] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.82sINFOros2_control_node[2026-08-25 22:04:56.097] [info] Controller state will be published at 10 Hz. ×2 + 20.82sINFOros2_control_node[2026-08-25 22:04:56.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414253 ms (missed cycles : 2). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414253 ms (missed cycles : 2).[0m ×2 + 21.17sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.17sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.18sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 21.18sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 21.20sINFOros2-17process has finished cleanly [pid 9327] ×2 + 21.20sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.20sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.24sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.25sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.26sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.26sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 21.58sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 21.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 21.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 21.58sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 21.58sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 21.58sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 21.63sINFOros2-14process has finished cleanly [pid 9306] ×2 + 21.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 21.65sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 21.65sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 21.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 21.66sINFOforce_torque_sensor_broadcasterconfigure successful + 21.66sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 21.66sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 21.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 21.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.02sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 22.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 22.02sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 22.02sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 22.04sINFOros2-10process has finished cleanly [pid 9302] ×2 + 22.08sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 22.08sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 22.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 22.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 22.09sINFOplatform_velocity_controller_nav2configure successful + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903599 ms (missed cycles : 2). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903599 ms (missed cycles : 2).[0m ×2 + 22.51sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.51sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 22.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 22.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 22.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 22.53sINFOros2-15process has finished cleanly [pid 9324] ×2 + 22.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 22.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 22.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 22.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 23.04sINFOros2_control_node[2026-08-25 22:04:58.314] [info] Controller state will be published at 20 Hz. ×2 + 23.04sINFOros2_control_node[2026-08-25 22:04:58.315] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117968 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117968 ms (missed cycles : 3).[0m ×2 + 23.42sINFOros2-19process has finished cleanly [pid 9329] ×2 + 23.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 23.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 23.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 23.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 + 23.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 23.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_722bh_74 --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_0bnyq3a5 --params-file /tmp/launch_params_1uh08f93 [0m ×2 + 23.53sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 23.53sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 23.53sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 23.53sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 24.04sINFOros2_control_node[2026-08-25 22:04:59.318] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 24.04sINFOros2_control_node[2026-08-25 22:04:59.320] [info] Controller state will be published at 10 Hz. ×2 + 24.05sINFOros2_control_node[2026-08-25 22:04:59.321] [info] VelocityForceController 'on_configure' succeeded. ×2 + 24.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767982 ms (missed cycles : 2). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767982 ms (missed cycles : 2).[0m ×2 + 24.42sINFOros2-18process has finished cleanly [pid 9328] ×2 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 27.05sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 29.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.37sINFOmove_groupClearing octomap...[0m ×2 + 29.37sINFOmove_groupOctomap cleared.[0m ×2 + 29.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 29.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 30.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 31.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.34sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 31.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 31.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 68.2s | 3 errors · 217 warnings · 239 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.157ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531821 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531821 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.261ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902689 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902689 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.652ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.948ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350239 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350239 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.049ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.163ms + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254583 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254583 ms (missed cycles : 4).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 4621 particles 723 points - 7.637ms + 3.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOjoint_trajectory_controllerGot request to cancel goal + 3.77sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.77sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.81sERRORobjective_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: 1787695714.65532684 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-0.69, 3.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-1.59, 3.45) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.033ms + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787695715.24935603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687773 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687773 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537870 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537870 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618202 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618202 ms (missed cycles : 2).[0m ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.67sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.67sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679895 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679895 ms (missed cycles : 3).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.918ms + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773462 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773462 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.714ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815164 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815164 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.778ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.658ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561472 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561472 ms (missed cycles : 3).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.965ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.565ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325393 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325393 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 4363 particles 723 points - 7.282ms + 12.50sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 5.314ms + 12.99sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 3.522ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268602 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268602 ms (missed cycles : 3).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.105ms + 13.99sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.391ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466506 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466506 ms (missed cycles : 2).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920098 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920098 ms (missed cycles : 2).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199840 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199840 ms (missed cycles : 3).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185082 ms (missed cycles : 3). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185082 ms (missed cycles : 3).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837739 ms (missed cycles : 4). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837739 ms (missed cycles : 4).[0m ×2 + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950004 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950004 ms (missed cycles : 2).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411760 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411760 ms (missed cycles : 3).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684700 ms (missed cycles : 3). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684700 ms (missed cycles : 3).[0m ×2 + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303253 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303253 ms (missed cycles : 2).[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408478 ms (missed cycles : 3). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408478 ms (missed cycles : 3).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033464 ms (missed cycles : 4). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033464 ms (missed cycles : 4).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms ×3 + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273300 ms (missed cycles : 3). + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273300 ms (missed cycles : 3).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250855 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250855 ms (missed cycles : 2).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865941 ms (missed cycles : 3). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865941 ms (missed cycles : 3).[0m ×2 + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195350 ms (missed cycles : 4). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195350 ms (missed cycles : 4).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292231 ms (missed cycles : 3). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292231 ms (missed cycles : 3).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652456 ms (missed cycles : 3). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652456 ms (missed cycles : 3).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 31.50sINFOros2_control_nodeMuJoCo sim: 1.28% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864840 ms (missed cycles : 4). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864840 ms (missed cycles : 4).[0m ×2 + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136879 ms (missed cycles : 2). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136879 ms (missed cycles : 2).[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480393 ms (missed cycles : 2). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480393 ms (missed cycles : 2).[0m ×2 + 35.04sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.04sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.33sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466304 ms (missed cycles : 4). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466304 ms (missed cycles : 4).[0m ×2 + 36.16sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239482 ms (missed cycles : 3). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239482 ms (missed cycles : 3).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042087 ms (missed cycles : 2). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042087 ms (missed cycles : 2).[0m ×2 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667296 ms (missed cycles : 2). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667296 ms (missed cycles : 2).[0m ×2 + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 39.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297431 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297431 ms (missed cycles : 3).[0m ×2 + 39.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900097 ms (missed cycles : 3). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900097 ms (missed cycles : 3).[0m ×2 + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 41.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100209 ms (missed cycles : 2). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100209 ms (missed cycles : 2).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034816 ms (missed cycles : 3). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034816 ms (missed cycles : 3).[0m ×2 + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937520 ms (missed cycles : 3). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937520 ms (missed cycles : 3).[0m ×2 + 44.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768095 ms (missed cycles : 3). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768095 ms (missed cycles : 3).[0m ×2 + 45.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 46.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667871 ms (missed cycles : 3). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667871 ms (missed cycles : 3).[0m ×2 + 46.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831173 ms (missed cycles : 4). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831173 ms (missed cycles : 4).[0m ×2 + 47.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 48.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198505 ms (missed cycles : 3). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198505 ms (missed cycles : 3).[0m ×2 + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870560 ms (missed cycles : 3). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870560 ms (missed cycles : 3).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 50.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 50.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316542 ms (missed cycles : 3). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316542 ms (missed cycles : 3).[0m ×2 + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072887 ms (missed cycles : 2). + 51.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072887 ms (missed cycles : 2).[0m ×2 + 51.53sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678121 ms (missed cycles : 2). + 52.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678121 ms (missed cycles : 2).[0m ×2 + 53.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110671 ms (missed cycles : 3). + 53.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110671 ms (missed cycles : 3).[0m ×2 + 54.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474651 ms (missed cycles : 2). + 54.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474651 ms (missed cycles : 2).[0m ×2 + 55.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 55.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351838 ms (missed cycles : 3). + 55.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351838 ms (missed cycles : 3).[0m ×2 + 55.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 56.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 56.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245076 ms (missed cycles : 2). + 56.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245076 ms (missed cycles : 2).[0m ×2 + 57.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077163 ms (missed cycles : 4). + 57.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077163 ms (missed cycles : 4).[0m ×2 + 57.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 58.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695564 ms (missed cycles : 4). + 58.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695564 ms (missed cycles : 4).[0m ×2 + 59.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 59.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474925 ms (missed cycles : 3). + 59.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474925 ms (missed cycles : 3).[0m ×2 + 60.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 60.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979113 ms (missed cycles : 3). + 60.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979113 ms (missed cycles : 3).[0m ×2 + 61.27sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 62.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239883 ms (missed cycles : 3). + 62.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239883 ms (missed cycles : 3).[0m ×2 + 63.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805674 ms (missed cycles : 2). + 63.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805674 ms (missed cycles : 2).[0m ×2 + 64.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910979 ms (missed cycles : 3). + 64.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910979 ms (missed cycles : 3).[0m ×2 + 65.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084113 ms (missed cycles : 2). + 65.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084113 ms (missed cycles : 2).[0m ×2 + 65.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 66.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176966 ms (missed cycles : 2). + 66.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176966 ms (missed cycles : 2).[0m ×2 + 66.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 66.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 67.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740002 ms (missed cycles : 2). + 67.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740002 ms (missed cycles : 2).[0m ×2 + 67.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 68.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135231 ms (missed cycles : 3). + 68.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135231 ms (missed cycles : 3).[0m ×2 + 68.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 68.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 69.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984147 ms (missed cycles : 3). + 69.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984147 ms (missed cycles : 3).[0m ×2 + 69.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 70.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958041 ms (missed cycles : 4). + 70.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958041 ms (missed cycles : 4).[0m ×2 + 70.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 71.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025959 ms (missed cycles : 4). + 71.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025959 ms (missed cycles : 4).[0m ×2 + 72.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787695782.84952521 seconds ×3 + 72.05sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 14.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 72.05sWARNlocal_costmap.local_costmapSensor origin at (-3.09, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 72.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.187ms + 72.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092985 ms (missed cycles : 3). + 72.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092985 ms (missed cycles : 3).[0m ×2 + 72.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787695783.43643689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 73.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080745 ms (missed cycles : 2). + 73.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080745 ms (missed cycles : 2).[0m ×2 + 74.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 74.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.9s | 182 warnings · 172 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.98sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443747 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443747 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765572 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765572 ms (missed cycles : 2).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.710ms + 9.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.716ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549322 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549322 ms (missed cycles : 3).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.713ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.073ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686009 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686009 ms (missed cycles : 3).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.117ms + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.245ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879626 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879626 ms (missed cycles : 3).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.769ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.325ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077340 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077340 ms (missed cycles : 2).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.272ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406664 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406664 ms (missed cycles : 2).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.263ms + 14.41sINFOamclParticle filter update iteration stats: 4259 particles 723 points - 5.925ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616702 ms (missed cycles : 3). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616702 ms (missed cycles : 3).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 4.066ms + 15.41sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.249ms + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878165 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878165 ms (missed cycles : 2).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616344 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616344 ms (missed cycles : 3).[0m ×2 + 17.12sINFOros2_control_nodeMuJoCo sim: 1.63% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827142 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827142 ms (missed cycles : 3).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560952 ms (missed cycles : 2). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560952 ms (missed cycles : 2).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476320 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476320 ms (missed cycles : 3).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056066 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056066 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224668 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224668 ms (missed cycles : 2).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928569 ms (missed cycles : 2). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928569 ms (missed cycles : 2).[0m ×2 + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536444 ms (missed cycles : 3). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536444 ms (missed cycles : 3).[0m ×2 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 24.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046712 ms (missed cycles : 2). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046712 ms (missed cycles : 2).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025502 ms (missed cycles : 4). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025502 ms (missed cycles : 4).[0m ×2 + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649036 ms (missed cycles : 4). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649036 ms (missed cycles : 4).[0m ×2 + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045136 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045136 ms (missed cycles : 2).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997825 ms (missed cycles : 3). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997825 ms (missed cycles : 3).[0m ×2 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400941 ms (missed cycles : 3). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400941 ms (missed cycles : 3).[0m ×2 + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943811 ms (missed cycles : 2). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943811 ms (missed cycles : 2).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410578 ms (missed cycles : 2). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410578 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 33.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429968 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429968 ms (missed cycles : 2).[0m ×2 + 34.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791213 ms (missed cycles : 3). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791213 ms (missed cycles : 3).[0m ×2 + 35.38sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112667 ms (missed cycles : 4). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112667 ms (missed cycles : 4).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412837 ms (missed cycles : 4). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412837 ms (missed cycles : 4).[0m ×2 + 37.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077100 ms (missed cycles : 3). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077100 ms (missed cycles : 3).[0m ×2 + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519483 ms (missed cycles : 3). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519483 ms (missed cycles : 3).[0m ×2 + 39.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598436 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598436 ms (missed cycles : 3).[0m ×2 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328182 ms (missed cycles : 3). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328182 ms (missed cycles : 3).[0m ×2 + 42.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758316 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758316 ms (missed cycles : 2).[0m ×2 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980849 ms (missed cycles : 2). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980849 ms (missed cycles : 2).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889676 ms (missed cycles : 3). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889676 ms (missed cycles : 3).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377574 ms (missed cycles : 4). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377574 ms (missed cycles : 4).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506451 ms (missed cycles : 3). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506451 ms (missed cycles : 3).[0m ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015053 ms (missed cycles : 4). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015053 ms (missed cycles : 4).[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129447 ms (missed cycles : 3). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129447 ms (missed cycles : 3).[0m ×2 + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383045 ms (missed cycles : 4). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383045 ms (missed cycles : 4).[0m ×2 + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470595 ms (missed cycles : 2). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470595 ms (missed cycles : 2).[0m ×2 + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096395 ms (missed cycles : 4). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096395 ms (missed cycles : 4).[0m ×2 + 52.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646684 ms (missed cycles : 2). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646684 ms (missed cycles : 2).[0m ×2 + 54.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960136 ms (missed cycles : 2). + 54.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960136 ms (missed cycles : 2).[0m ×2 + 55.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489984 ms (missed cycles : 3). + 55.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489984 ms (missed cycles : 3).[0m ×2 + 55.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857247 ms (missed cycles : 3). + 56.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857247 ms (missed cycles : 3).[0m ×2 + 57.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973911 ms (missed cycles : 3). + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973911 ms (missed cycles : 3).[0m ×2 + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181752 ms (missed cycles : 4). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181752 ms (missed cycles : 4).[0m ×2 + 59.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957025 ms (missed cycles : 3). + 59.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957025 ms (missed cycles : 3).[0m ×2 + 60.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 60.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076942 ms (missed cycles : 4). + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076942 ms (missed cycles : 4).[0m ×2 + 61.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787695846.24150896 seconds ×3 + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-2.96, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-3.86, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.894ms + 61.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829133 ms (missed cycles : 2). + 61.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829133 ms (missed cycles : 2).[0m ×2 + 61.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787695846.83640790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.96sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 62.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827597 ms (missed cycles : 2). + 62.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827597 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 182 warnings · 227 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695550.30590630 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.28sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.063ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695550.89366841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeFound path in 0 iterations (3.4149e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.77sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.77sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.77sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.77sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289822 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289822 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787695553.73379135 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787695554.32159209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664377 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664377 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976389 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976389 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112611 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112611 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653159 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653159 ms (missed cycles : 3).[0m ×2 + 8.08sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.663ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073085 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073085 ms (missed cycles : 3).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869143 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869143 ms (missed cycles : 2).[0m ×2 + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 10.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816931 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816931 ms (missed cycles : 3).[0m ×2 + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210353 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210353 ms (missed cycles : 3).[0m ×2 + 12.08sINFOros2_control_nodeMuJoCo sim: 0.52% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191991 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191991 ms (missed cycles : 3).[0m ×2 + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917677 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917677 ms (missed cycles : 2).[0m ×2 + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627262 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627262 ms (missed cycles : 3).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908193 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908193 ms (missed cycles : 3).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819532 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819532 ms (missed cycles : 2).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019698 ms (missed cycles : 3). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019698 ms (missed cycles : 3).[0m ×2 + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270230 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270230 ms (missed cycles : 2).[0m ×2 + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639046 ms (missed cycles : 3). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639046 ms (missed cycles : 3).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308540 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308540 ms (missed cycles : 3).[0m ×2 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609538 ms (missed cycles : 5). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609538 ms (missed cycles : 5).[0m ×2 + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238386 ms (missed cycles : 3). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238386 ms (missed cycles : 3).[0m ×2 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639428 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639428 ms (missed cycles : 3).[0m ×2 + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596938 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596938 ms (missed cycles : 2).[0m ×2 + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397323 ms (missed cycles : 2). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397323 ms (missed cycles : 2).[0m ×2 + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360326 ms (missed cycles : 2). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360326 ms (missed cycles : 2).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368505 ms (missed cycles : 3). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368505 ms (missed cycles : 3).[0m ×2 + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398827 ms (missed cycles : 3). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398827 ms (missed cycles : 3).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082026 ms (missed cycles : 2). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082026 ms (missed cycles : 2).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 32.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190164 ms (missed cycles : 4). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190164 ms (missed cycles : 4).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082334 ms (missed cycles : 3). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082334 ms (missed cycles : 3).[0m ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814248 ms (missed cycles : 3). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814248 ms (missed cycles : 3).[0m ×2 + 34.73sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193223 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193223 ms (missed cycles : 2).[0m ×2 + 35.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 36.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834853 ms (missed cycles : 3). + 36.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834853 ms (missed cycles : 3).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918989 ms (missed cycles : 4). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918989 ms (missed cycles : 4).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944229 ms (missed cycles : 3). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944229 ms (missed cycles : 3).[0m ×2 + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061231 ms (missed cycles : 3). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061231 ms (missed cycles : 3).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026994 ms (missed cycles : 4). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026994 ms (missed cycles : 4).[0m ×2 + 41.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817416 ms (missed cycles : 4). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817416 ms (missed cycles : 4).[0m ×2 + 42.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803658 ms (missed cycles : 2). + 42.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803658 ms (missed cycles : 2).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003817 ms (missed cycles : 3). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003817 ms (missed cycles : 3).[0m ×2 + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491562 ms (missed cycles : 4). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491562 ms (missed cycles : 4).[0m ×2 + 45.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163123 ms (missed cycles : 3). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163123 ms (missed cycles : 3).[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060807 ms (missed cycles : 3). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060807 ms (missed cycles : 3).[0m ×2 + 47.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143294 ms (missed cycles : 4). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143294 ms (missed cycles : 4).[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378018 ms (missed cycles : 3). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378018 ms (missed cycles : 3).[0m ×2 + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195829 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195829 ms (missed cycles : 3).[0m ×2 + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457098 ms (missed cycles : 3). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457098 ms (missed cycles : 3).[0m ×2 + 51.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094371 ms (missed cycles : 3). + 52.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094371 ms (missed cycles : 3).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159038 ms (missed cycles : 2). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159038 ms (missed cycles : 2).[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351306 ms (missed cycles : 4). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351306 ms (missed cycles : 4).[0m ×2 + 54.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 55.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070333 ms (missed cycles : 3). + 55.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070333 ms (missed cycles : 3).[0m ×2 + 56.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3). + 56.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3).[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3).[0m ×2 + 57.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4).[0m ×2 + 59.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2).[0m ×2 + 60.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695610.58172894 seconds ×3 + 60.44sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 4.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.44sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 4.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.008ms + 60.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.063ms + 60.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695611.18140340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3). + 60.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3).[0m ×2 + 61.29sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 61.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3). + 61.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3).[0m ×2 + 63.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3). + 63.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.5s | 178 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4).[0m ×2 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.05sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695649.09651589 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.863ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.488ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695649.68703246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3).[0m ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002056 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002056 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897432 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897432 ms (missed cycles : 3).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.700ms + 9.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.451ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592638 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592638 ms (missed cycles : 3).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.638ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.867ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768211 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768211 ms (missed cycles : 3).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.336ms + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.294ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688315 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688315 ms (missed cycles : 3).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.598ms + 12.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.656ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959755 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959755 ms (missed cycles : 3).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.669ms + 13.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816801 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816801 ms (missed cycles : 3).[0m ×2 + 13.93sINFOamclParticle filter update iteration stats: 4094 particles 723 points - 5.883ms + 14.43sINFOamclParticle filter update iteration stats: 3170 particles 723 points - 3.792ms + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078743 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078743 ms (missed cycles : 3).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 3.619ms + 15.43sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.542ms + 15.91sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.699ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024058 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024058 ms (missed cycles : 3).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735372 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735372 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480124 ms (missed cycles : 3). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480124 ms (missed cycles : 3).[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414444 ms (missed cycles : 4). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414444 ms (missed cycles : 4).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897720 ms (missed cycles : 2). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897720 ms (missed cycles : 2).[0m ×2 + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906737 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906737 ms (missed cycles : 2).[0m ×2 + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849809 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849809 ms (missed cycles : 2).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287248 ms (missed cycles : 4). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287248 ms (missed cycles : 4).[0m ×2 + 23.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681684 ms (missed cycles : 3). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681684 ms (missed cycles : 3).[0m ×2 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590026 ms (missed cycles : 3). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590026 ms (missed cycles : 3).[0m ×2 + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms ×2 + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708269 ms (missed cycles : 3). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708269 ms (missed cycles : 3).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698955 ms (missed cycles : 2). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698955 ms (missed cycles : 2).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946176 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946176 ms (missed cycles : 2).[0m ×2 + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 29.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866149 ms (missed cycles : 3). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866149 ms (missed cycles : 3).[0m ×2 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366265 ms (missed cycles : 3). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366265 ms (missed cycles : 3).[0m ×2 + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486874 ms (missed cycles : 3). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486874 ms (missed cycles : 3).[0m ×2 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 32.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105079 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105079 ms (missed cycles : 2).[0m ×2 + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158267 ms (missed cycles : 4). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158267 ms (missed cycles : 4).[0m ×2 + 34.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019020 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019020 ms (missed cycles : 3).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534568 ms (missed cycles : 2). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534568 ms (missed cycles : 2).[0m ×2 + 37.00sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187977 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187977 ms (missed cycles : 2).[0m ×2 + 37.33sINFOros2_control_nodeMuJoCo sim: 0.85% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.77sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314667 ms (missed cycles : 2). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314667 ms (missed cycles : 2).[0m ×2 + 39.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098636 ms (missed cycles : 2). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098636 ms (missed cycles : 2).[0m ×2 + 39.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 40.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 40.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085962 ms (missed cycles : 3). + 40.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085962 ms (missed cycles : 3).[0m ×2 + 40.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950111 ms (missed cycles : 3). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950111 ms (missed cycles : 3).[0m ×2 + 41.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 41.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms ×2 + 42.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727167 ms (missed cycles : 4). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727167 ms (missed cycles : 4).[0m ×2 + 43.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515302 ms (missed cycles : 4). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515302 ms (missed cycles : 4).[0m ×2 + 44.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953187 ms (missed cycles : 2). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953187 ms (missed cycles : 2).[0m ×2 + 45.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988769 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988769 ms (missed cycles : 2).[0m ×2 + 46.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024101 ms (missed cycles : 2). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024101 ms (missed cycles : 2).[0m ×2 + 47.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759551 ms (missed cycles : 3). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759551 ms (missed cycles : 3).[0m ×2 + 48.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686748 ms (missed cycles : 3). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686748 ms (missed cycles : 3).[0m ×2 + 49.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 49.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637038 ms (missed cycles : 3). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637038 ms (missed cycles : 3).[0m ×2 + 50.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 50.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056291 ms (missed cycles : 2). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056291 ms (missed cycles : 2).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635559 ms (missed cycles : 3). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635559 ms (missed cycles : 3).[0m ×2 + 52.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 53.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980178 ms (missed cycles : 2). + 53.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980178 ms (missed cycles : 2).[0m ×2 + 54.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027914 ms (missed cycles : 2). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027914 ms (missed cycles : 2).[0m ×2 + 55.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 55.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557685 ms (missed cycles : 3). + 55.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557685 ms (missed cycles : 3).[0m ×2 + 56.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860540 ms (missed cycles : 3). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860540 ms (missed cycles : 3).[0m ×2 + 57.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 57.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770074 ms (missed cycles : 2). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770074 ms (missed cycles : 2).[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511669 ms (missed cycles : 3). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511669 ms (missed cycles : 3).[0m ×2 + 58.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787695703.61716509 seconds ×3 + 58.69sWARNlocal_costmap.local_costmapSensor origin at (-1.90, 10.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.69sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.806ms + 59.19sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787695704.20463872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.61sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243042 ms (missed cycles : 2). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243042 ms (missed cycles : 2).[0m ×2 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375403 ms (missed cycles : 2). + 60.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375403 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 144 warnings · 265 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.76sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177093 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177093 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725459 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725459 ms (missed cycles : 3).[0m ×2 + 7.85sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.177ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733430 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733430 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753333 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753333 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863504 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863504 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632179 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632179 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070425 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070425 ms (missed cycles : 3).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216306 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216306 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841308 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841308 ms (missed cycles : 2).[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866649 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866649 ms (missed cycles : 3).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880211 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880211 ms (missed cycles : 2).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704423 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704423 ms (missed cycles : 2).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624366 ms (missed cycles : 3). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624366 ms (missed cycles : 3).[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996163 ms (missed cycles : 2). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996163 ms (missed cycles : 2).[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328372 ms (missed cycles : 2).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084402 ms (missed cycles : 2). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084402 ms (missed cycles : 2).[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038771 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038771 ms (missed cycles : 2).[0m ×2 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583834 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583834 ms (missed cycles : 2).[0m ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648880 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648880 ms (missed cycles : 3).[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355303 ms (missed cycles : 3). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355303 ms (missed cycles : 3).[0m ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703671 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703671 ms (missed cycles : 2).[0m ×2 + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067176 ms (missed cycles : 2). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067176 ms (missed cycles : 2).[0m ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171720 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171720 ms (missed cycles : 2).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900128 ms (missed cycles : 3). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900128 ms (missed cycles : 3).[0m ×2 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163172 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163172 ms (missed cycles : 2).[0m ×2 + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270310 ms (missed cycles : 2). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270310 ms (missed cycles : 2).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714240 ms (missed cycles : 3). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714240 ms (missed cycles : 3).[0m ×2 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968316 ms (missed cycles : 3). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968316 ms (missed cycles : 3).[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152790 ms (missed cycles : 3). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152790 ms (missed cycles : 3).[0m ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353205 ms (missed cycles : 3). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353205 ms (missed cycles : 3).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040515 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040515 ms (missed cycles : 2).[0m ×2 + 38.05sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.915ms + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904766 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904766 ms (missed cycles : 2).[0m ×2 + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318256 ms (missed cycles : 2). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318256 ms (missed cycles : 2).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683919 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683919 ms (missed cycles : 2).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614035 ms (missed cycles : 3). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614035 ms (missed cycles : 3).[0m ×2 + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533742 ms (missed cycles : 3). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533742 ms (missed cycles : 3).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128849 ms (missed cycles : 2). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128849 ms (missed cycles : 2).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3).[0m ×2 + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3).[0m ×2 + 47.37sINFOjoint_trajectory_controllerGoal reached, success! + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 47.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 47.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695550.30590630 seconds ×3 + 47.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.65sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.063ms + 48.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695550.89366841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3).[0m ×2 + 49.11sINFOobjective_server_nodeFound path in 0 iterations (3.4149e-05 s). ×2 + 49.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.3s | 110 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653177 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653177 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546563 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546563 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747118 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747118 ms (missed cycles : 3).[0m ×2 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.28sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787695616.83155251 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835991 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835991 ms (missed cycles : 2).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787695618.41637611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078542 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078542 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783177 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783177 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.13sINFOjoint_trajectory_controllerReceived new action goal + 6.13sINFOjoint_trajectory_controllerAccepted new action goal + 6.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973680 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973680 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549593 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549593 ms (missed cycles : 3).[0m ×2 + 7.79sINFOros2_control_nodeMuJoCo sim: 0.93% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.577ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708557 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708557 ms (missed cycles : 3).[0m ×2 + 8.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.124ms + 8.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557452 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557452 ms (missed cycles : 3).[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.364ms + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377341 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377341 ms (missed cycles : 2).[0m ×2 + 10.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.221ms + 10.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.896ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263349 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263349 ms (missed cycles : 2).[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.726ms + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.528ms + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697094 ms (missed cycles : 3). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697094 ms (missed cycles : 3).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.061ms + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.227ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679772 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679772 ms (missed cycles : 2).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.734ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732354 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732354 ms (missed cycles : 2).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 14.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.403ms + 15.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.834ms + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394161 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394161 ms (missed cycles : 3).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 16.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.570ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966827 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966827 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.082ms + 17.49sINFOamclParticle filter update iteration stats: 4197 particles 723 points - 5.395ms + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287478 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287478 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 5.036ms + 18.48sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.698ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572858 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572858 ms (missed cycles : 3).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 2.117ms + 19.48sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.581ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750275 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750275 ms (missed cycles : 3).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327956 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327956 ms (missed cycles : 2).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017962 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017962 ms (missed cycles : 2).[0m ×2 + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771605 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771605 ms (missed cycles : 2).[0m ×2 + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150436 ms (missed cycles : 3). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150436 ms (missed cycles : 3).[0m ×2 + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252811 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252811 ms (missed cycles : 2).[0m ×2 + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119833 ms (missed cycles : 3). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119833 ms (missed cycles : 3).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407558 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407558 ms (missed cycles : 3).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563595 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563595 ms (missed cycles : 3).[0m ×2 + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms ×2 + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095879 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095879 ms (missed cycles : 3).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3).[0m ×2 + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4).[0m ×2 + 34.54sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695649.09651589 seconds ×3 + 34.64sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.64sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.863ms + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3).[0m ×2 + 34.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.488ms + 35.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695649.68703246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.57sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 15.1s | 65 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973911 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973911 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181752 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181752 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957025 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957025 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076942 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076942 ms (missed cycles : 4).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.53sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787695846.24150896 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.96, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-3.86, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.894ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829133 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829133 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787695846.83640790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827597 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827597 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869095 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869095 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368452 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368452 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314052 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314052 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747378 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747378 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 10.50sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 10.60sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066229 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066229 ms (missed cycles : 4).[0m ×2 + 10.65sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 11.22sINFOobjective_server_nodeFound path in 33 iterations (0.0466724 s). ×2 + 11.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.55sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206262 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206262 ms (missed cycles : 3).[0m ×2 + 12.00sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.05sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 12.41sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106152 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106152 ms (missed cycles : 3).[0m ×2 + 12.71sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292689 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292689 ms (missed cycles : 2).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.860ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195969 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195969 ms (missed cycles : 2).[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.895ms + 15.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.401ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.922ms + 16.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.576ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.977ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3).[0m ×2 + 18.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695861.37341118 seconds ×3 + 18.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 18.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.637ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2).[0m ×2 + 19.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695862.00670505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.35sINFOmove_groupClearing octomap...[0m ×2 + 19.35sINFOmove_groupOctomap cleared.[0m ×2 + 19.69sINFOros2_control_nodeMuJoCo sim: 1.64% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 20.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695862.68683052 seconds ×3 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2).[0m ×2 + 20.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695863.26348376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2).[0m ×2 + 21.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695863.92361236 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 95 errors · 36 warnings · 433 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.922ms + 0.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.576ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.977ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3).[0m ×2 + 2.77sINFOjoint_trajectory_controllerGoal reached, success! + 2.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695861.37341118 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.637ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695862.00670505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.43sINFOmove_groupClearing octomap...[0m ×2 + 3.43sINFOmove_groupOctomap cleared.[0m ×2 + 3.77sINFOros2_control_nodeMuJoCo sim: 1.64% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695862.68683052 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695863.26348376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695863.92361236 seconds ×3 + 5.59sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723624 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723624 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054183 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054183 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618533 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618533 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256181 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256181 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872953 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872953 ms (missed cycles : 3).[0m ×2 + 11.08sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.12sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORweb_video_auth_proxy-35process has died [pid 9345, 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 + 11.13sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.16sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_bridge_auth_proxy-34process has died [pid 9344, 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 + 11.17sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.25sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.28sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.30sINFOvideo_server-33process has finished cleanly [pid 9343] ×2 + 11.30sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.33sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.35sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.38sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.40sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.41sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.44sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.46sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.49sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249643 ms (missed cycles : 4). + 11.52sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.55sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9342] ×2 + 11.56sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.59sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.59sINFOcontroller_managerShutdown request received.... + 11.59sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.59sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.59sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.60sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.60sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.60sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.60sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.60sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.60sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerShutting down the controller manager. + 11.62sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.63sERRORmove_group-21process has died [pid 9331, 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_9swyocwo --params-file /tmp/launch_params_nvdjp3bn --params-file /tmp/launch_params_9aw_lwqd --params-file /tmp/launch_params_d33pgg41 --params-file /tmp/launch_params_ki_99ajx --params-file /tmp/launch_params_uw_jozmv']. ×2 + 11.63sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787695869.915 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.64sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.65sINFOui_teleop_bridge-30process has finished cleanly [pid 9340] ×2 + 11.65sINFOcomponent_container_mt-28process has finished cleanly [pid 9338] ×2 + 11.67sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.69sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.69sINFOexecute_objective_bridge-29process has finished cleanly [pid 9339] ×2 + 11.71sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.74sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.76sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.76sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.76sINFOmap_serverDeactivating + 11.76sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.77sINFOmap_serverCleaning up + 11.77sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.77sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.78sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.78sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.78sINFOcontroller_serverDeactivating + 11.78sINFOlocal_costmap.local_costmapDeactivating + 11.78sINFOvideo_server2026/08/25 22:11:09 INF shutting down gracefully ×2 + 11.78sINFOvideo_server2026/08/25 22:11:09 INF [WebRTC] closing ×2 + 11.78sINFOvideo_server2026/08/25 22:11:09 INF [RTSP] closing ×2 + 11.78sINFOvideo_server2026/08/25 22:11:09 INF waiting for running hooks ×2 + 11.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.79sERRORamclThe bond connection to the lifecycle manager has been broken + 11.79sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.79sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.79sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249643 ms (missed cycles : 4).[0m ×2 + 11.80sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.80sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.80sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.80sERRORmove_groupStack trace (most recent call last) in thread 9965: ×2 + 11.80sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.80sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd17f6fda63, in __clone ×2 + 11.80sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd17f670aa3, in ×2 + 11.80sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd17f902db3, in ×2 + 11.80sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7fd180073a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.80sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd17fc94620, in rclcpp::Rate::sleep() ×2 + 11.80sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd17fbd6d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.80sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd17fb98087, in ×2 + 11.80sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd17f8d1390, in __cxa_throw ×2 + 11.80sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd17f8bba54, in std::terminate() ×2 + 11.80sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd17f8d10d9, in ×2 + 11.80sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd17f8bbff4, in ×2 + 11.80sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd17f5fc8fe, in abort ×2 + 11.80sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd17f61927d, in raise ×2 + 11.80sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd17f672b2c, in pthread_kill ×2 + 11.80sERRORmove_groupAborted (Signal sent by tkill() 9331 0) ×2 + 11.80sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.80sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.80sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.80sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.80sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.80sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.80sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.80sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.80sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.80sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.80sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.80sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.80sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.80sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.80sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.81sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.81sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.81sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.81sINFOodom_qos_relay.pymain() ×2 + 11.81sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.81sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.81sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.81sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.81sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.81sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.81sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.81sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.81sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.81sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.81sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.81sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.82sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.83sINFOcontroller_serverCleaning up + 11.83sINFOlocal_costmap.local_costmapCleaning up + 11.87sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.87sINFOsmoother_serverDeactivating + 11.87sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.88sINFOsmoother_serverCleaning up + 11.90sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.90sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.90sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.90sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.90sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.90sINFOvelocity_smootherDeactivating + 11.90sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.90sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.90sINFOplanner_serverDeactivating + 11.90sINFOglobal_costmap.global_costmapDeactivating + 11.98sERRORcomponent_container_isolated-2process has died [pid 9217, 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_51qmjjwe --params-file /tmp/launch_params_zrm33l4x -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.01sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.01sINFOwaypoint_followerDeactivating + 12.01sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.12sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.12sINFObt_navigatorDeactivating + 12.12sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.24sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.24sINFObehavior_serverDeactivating + 12.24sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.24sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.24sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.25sINFOplanner_serverCleaning up + 12.27sINFOglobal_costmap.global_costmapCleaning up + 12.28sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.28sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.31sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.31sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.31sINFObt_navigatorCleaning up + 12.35sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.35sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.35sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.35sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.35sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.35sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.35sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.36sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.36sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.36sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.36sINFOvelocity_smootherCleaning up + 12.36sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.36sINFOwaypoint_followerCleaning up + 12.39sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.41sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.41sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.41sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.41sINFObehavior_serverCleaning up + 12.47sINFObt_navigatorCompleted Cleaning up + 12.47sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.47sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.47sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.47sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.47sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.47sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.47sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.47sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.47sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.47sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.49sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9335] ×2 + 12.52sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9334] ×2 + 12.59sINFOobjective_server_node[2026-08-25 22:11:11.172] [moveit_pro_license] [critical] ×2 + 12.59sINFOobjective_server_node************************************************* ×4 + 12.59sINFOobjective_server_node* MoveIt Pro License ×2 + 12.59sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.60sINFOcomponent_container_mt-27process has finished cleanly [pid 9337] ×2 + 12.60sINFOwaypoint_manager_node-23process has finished cleanly [pid 9333] ×2 + 12.60sINFOparameter_manager_node-22process has finished cleanly [pid 9332] ×2 + 12.65sINFOobjective_server_node_main-26process has finished cleanly [pid 9336] ×2 + 12.66sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.66sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9223] ×2 + 12.69sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9222] ×2 + 12.75sINFOstatic_transform_publisher-4process has finished cleanly [pid 9219] ×2 + 12.78sINFOstatic_transform_publisher-3process has finished cleanly [pid 9218] ×2 + 12.79sERRORcomponent_container_isolated-1process has died [pid 9216, 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_51qmjjwe --params-file /tmp/launch_params_nujcu3n3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.79sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9221] ×2 + 12.80sERRORodom_qos_relay.py-5process has died [pid 9220, 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 + 14.08sINFOweb_bridge-31process has finished cleanly [pid 9341] ×2 + 14.08sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.23sINFOros2_control_node-9process has finished cleanly [pid 9224] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 52 warnings · 113 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557685 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557685 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860540 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860540 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.752ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770074 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770074 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511669 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511669 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787695703.61716509 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-1.90, 10.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.806ms + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787695704.20463872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243042 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243042 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375403 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375403 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288736 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288736 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147708 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147708 ms (missed cycles : 3).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.314ms + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.423ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858530 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858530 ms (missed cycles : 3).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.520ms + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.147ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304861 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304861 ms (missed cycles : 4).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.451ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.157ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531821 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531821 ms (missed cycles : 3).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.261ms + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902689 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902689 ms (missed cycles : 2).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.652ms + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.948ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350239 ms (missed cycles : 4). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350239 ms (missed cycles : 4).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.049ms + 13.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.163ms + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254583 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254583 ms (missed cycles : 4).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 4621 particles 723 points - 7.637ms + 14.37sINFOobjective_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 + 14.38sINFOjoint_trajectory_controllerGot request to cancel goal + 14.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.38sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.42sERRORobjective_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: 1787695714.65532684 seconds ×3 + 14.46sWARNlocal_costmap.local_costmapSensor origin at (-0.69, 3.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.46sWARNlocal_costmap.local_costmapSensor origin at (-1.59, 3.45) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.033ms + 15.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787695715.24935603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687773 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687773 ms (missed cycles : 2).[0m ×2 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537870 ms (missed cycles : 3). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537870 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.2s | 41 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695610.58172894 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 4.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 4.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.008ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.063ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695611.18140340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653177 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653177 ms (missed cycles : 3).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546563 ms (missed cycles : 3). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546563 ms (missed cycles : 3).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747118 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747118 ms (missed cycles : 3).[0m ×2 + 10.12sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787695616.83155251 seconds ×3 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835991 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835991 ms (missed cycles : 2).[0m ×2 + 11.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787695618.41637611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078542 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078542 ms (missed cycles : 3).[0m ×2 + 12.09sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783177 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783177 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 41 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135231 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135231 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984147 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984147 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958041 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958041 ms (missed cycles : 4).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025959 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025959 ms (missed cycles : 4).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787695782.84952521 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 14.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-3.09, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.187ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092985 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092985 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787695783.43643689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOjoint_trajectory_controllerReceived new action goal + 4.81sINFOjoint_trajectory_controllerAccepted new action goal + 4.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080745 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080745 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 10.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 10.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 27 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128849 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128849 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 3.37sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695550.30590630 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.64sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.063ms + 4.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695550.89366841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4149e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289822 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289822 ms (missed cycles : 3).[0m ×2 + 6.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787695553.73379135 seconds ×3 + 7.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787695554.32159209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664377 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664377 ms (missed cycles : 3).[0m ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976389 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976389 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195969 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195969 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.895ms + 0.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.401ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.922ms + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.576ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.977ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695861.37341118 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.637ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695862.00670505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.49sINFOmove_groupClearing octomap...[0m ×2 + 4.49sINFOmove_groupOctomap cleared.[0m ×2 + 4.84sINFOros2_control_nodeMuJoCo sim: 1.64% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695862.68683052 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695863.26348376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695863.92361236 seconds ×3 + 6.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723624 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723624 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 2.128849 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128849 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695550.30590630 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.063ms + 4.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695550.89366841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4149e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2).[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 2.128849 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128849 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623996 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133120 ms (missed cycles : 3).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695550.30590630 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.063ms + 4.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695550.89366841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4149e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 23 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695610.58172894 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 4.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 4.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.008ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.063ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695611.18140340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767792 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792636 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207641 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162015 ms (missed cycles : 3).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787695789.27658010 seconds ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834987 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787695789.87133956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245404 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522571 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195969 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195969 ms (missed cycles : 2).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.895ms + 0.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.401ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857900 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.922ms + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.576ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531638 ms (missed cycles : 3).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.977ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911761 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787695861.37341118 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.637ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290635 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695862.00670505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.49sINFOmove_groupClearing octomap...[0m ×2 + 4.49sINFOmove_groupOctomap cleared.[0m ×2 + 4.84sINFOros2_control_nodeMuJoCo sim: 1.64% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695862.68683052 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123562 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695863.26348376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741392 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695863.92361236 seconds ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.76sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177093 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177093 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 93 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2). + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278117 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787695550.30590630 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.28sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.063ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787695550.89366841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817241 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeFound path in 0 iterations (3.4149e-05 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOjoint_trajectory_controllerReceived new action goal + 1.77sINFOjoint_trajectory_controllerAccepted new action goal + 1.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319213 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289822 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289822 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787695553.73379135 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787695554.32159209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664377 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664377 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976389 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976389 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 23 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695610.58172894 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 4.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 4.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.008ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.063ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695611.18140340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 23 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695610.58172894 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 4.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 4.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.008ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.063ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695611.18140340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 23 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695610.58172894 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 4.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 4.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.008ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.063ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695611.18140340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 23 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100165 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424230 ms (missed cycles : 3).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291034 ms (missed cycles : 4).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693888 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787695610.58172894 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 4.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 4.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.008ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.063ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787695611.18140340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199676 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517164 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140000 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4).[0m ×2 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695649.09651589 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.863ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.488ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695649.68703246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4).[0m ×2 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695649.09651589 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.863ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.488ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695649.68703246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839733 ms (missed cycles : 2).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728054 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080724 ms (missed cycles : 4).[0m ×2 + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462111 ms (missed cycles : 4).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.08sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787695649.09651589 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.863ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959700 ms (missed cycles : 3).[0m ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.488ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787695649.68703246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340705 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218156 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/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_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 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737453 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 3.48% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_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 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177093 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177093 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671969 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.48% 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 2.274385 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274385 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310317 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695504.64191318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.84sINFOmove_groupClearing octomap...[0m ×2 + 2.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695504.65212321 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900857 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695505.25001955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695505.26014256 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695505.83574533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695505.98636627 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397712 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695506.60963225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695506.67160106 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787695507.25598550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331161 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401693 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||