MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

23.0s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.0s	12 errors · 307 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/2026-08-26-19-03-59-932377-c806003c7348-9661 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.85sINFOstatic_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' + 13.85sINFOstatic_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' + 13.93sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.95sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.95sINFOcontroller_managerupdate rate is 600 Hz + 13.95sINFOcontroller_managerOverruns handling is : enabled + 13.95sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.95sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 14.09sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332112 ms (missed cycles : 3). + 14.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.12sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.13sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.16sINFOros2_control_node-9process started with pid [9719] ×2 + 14.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.17sINFOmove_group-21process started with pid [9808] ×2 + 14.17sINFOparameter_manager_node-22process started with pid [9809] ×2 + 14.17sINFOwaypoint_manager_node-23process started with pid [9810] ×2 + 14.17sINFOmove_joint_resampler_node-24process started with pid [9829] ×2 + 14.17sINFOmove_end_effector_resampler_node-25process started with pid [9830] ×2 + 14.17sINFOobjective_server_node_main-26process started with pid [9831] ×2 + 14.17sINFOcomponent_container_mt-27process started with pid [9832] ×2 + 14.17sINFOcomponent_container_mt-28process started with pid [9833] ×2 + 14.17sINFOexecute_objective_bridge-29process started with pid [9834] ×2 + 14.17sINFOui_teleop_bridge-30process started with pid [9835] ×2 + 14.18sINFOweb_bridge-31process started with pid [9836] ×2 + 14.18sINFOtf2_web_republisher_node-32process started with pid [9837] ×2 + 14.18sINFOvideo_server-33process started with pid [9838] ×2 + 14.18sINFOweb_bridge_auth_proxy-34process started with pid [9839] ×2 + 14.18sINFOweb_video_auth_proxy-35process started with pid [9840] ×2 + 14.18sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.19sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.21sINFOcomponent_container_isolated-1process started with pid [9711] ×2 + 14.21sINFOcomponent_container_isolated-2process started with pid [9712] ×2 + 14.21sINFOstatic_transform_publisher-3process started with pid [9713] ×2 + 14.21sINFOstatic_transform_publisher-4process started with pid [9714] ×2 + 14.21sINFOodom_qos_relay.py-5process started with pid [9715] ×2 + 14.21sINFOforward_stereo_publisher.py-6process started with pid [9716] ×2 + 14.22sINFOscan_to_scan_filter_chain-7process started with pid [9717] ×2 + 14.22sINFOscan_to_scan_filter_chain-8process started with pid [9718] ×2 + 14.22sINFOros2-10process started with pid [9797] ×2 + 14.22sINFOros2-11process started with pid [9798] ×2 + 14.22sINFOros2-12process started with pid [9799] ×2 + 14.22sINFOros2-13process started with pid [9800] ×2 + 14.22sINFOros2-14process started with pid [9801] ×2 + 14.22sINFOros2-15process started with pid [9802] ×2 + 14.22sINFOros2-16process started with pid [9803] ×2 + 14.22sINFOros2-17process started with pid [9804] ×2 + 14.22sINFOros2-18process started with pid [9805] ×2 + 14.22sINFOros2-19process started with pid [9806] ×2 + 14.22sINFOros2-20process started with pid [9807] ×2 + 14.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.33sINFOcontroller_serverCreating controller server + 14.33sINFOmap_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. + 14.33sINFOmap_serverCreating + 14.35sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.35sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.37sINFOlocal_costmap.local_costmapCreating Costmap + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.37sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.40sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.40sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.40sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.40sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.40sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.42sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.43sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.43sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.43sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.43sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.43sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.43sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.43sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332112 ms (missed cycles : 3).[0m ×2 + 14.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.44sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.45sINFOsmoother_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. + 14.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.49sINFOcontroller_managerReceived robot description from topic. + 14.49sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.49sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOrobot_state_publisherRobot initialized + 14.49sINFOsmoother_serverCreating smoother server + 14.50sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.51sINFOlifecycle_manager_localizationCreating + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.54sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.55sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.55sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.55sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.55sINFOmap_serverConfiguring + 14.55sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.56sINFOplanner_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. + 14.56sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.58sINFOplanner_serverCreating + 14.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.63sINFOglobal_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. + 14.63sINFOglobal_costmap.global_costmapCreating Costmap + 14.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.65sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.68sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.68sINFOamclConfiguring + 14.68sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.68sINFOmap_serverActivating + 14.69sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.70sINFObehavior_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. + 14.74sINFOvideo_server2026/08/26 19:04:18 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.74sINFOvideo_server2026/08/26 19:04:18 INF configuration loaded from /tmp/moveit-webrtc-xt2s2q38/mediamtx.yml ×2 + 14.74sINFOvideo_server2026/08/26 19:04:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.74sINFOvideo_server2026/08/26 19:04:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.76sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.80sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.80sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.80sINFOamclActivating + 14.80sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.80sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.82sINFOamclSubscribed to map_topic: /map + 14.82sINFOamclSubscribed to scan_topic: /scan_merged + 14.82sINFOamclCreated reinitialize_global_localization service + 14.82sINFOamclCreated request_nomotion_update service + 14.82sINFOamclA new map was received + 14.82sINFOamclInitializing particle filter instance + 14.85sINFObt_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. + 14.86sWARNlaser_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. + 14.86sWARNlaser_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. + 14.86sWARNscan_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 + 14.87sINFObt_navigatorCreating + 14.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.94sINFOwaypoint_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. + 14.95sINFOwaypoint_followerCreating + 14.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.99sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.42293 seconds + 14.99sINFOmove_groupLoaded robot model in 0.42293 seconds[0m ×2 + 14.99sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.99sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.99sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.99sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 15.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.05sINFOvelocity_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. + 15.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.12sINFOlifecycle_manager_navigationCreating + 15.15sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.17sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.17sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969324 ms (missed cycles : 3). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969324 ms (missed cycles : 3).[0m ×2 + 15.18sINFOcontroller_serverConfiguring controller interface + 15.18sINFOcontroller_servergetting progress checker plugins.. + 15.18sINFOcontroller_servergetting goal checker plugins.. + 15.18sINFOcontroller_serverController frequency set to 20.0000Hz + 15.18sINFOlocal_costmap.local_costmapConfiguring + 15.19sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.21sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.26sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.26sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.27sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.30sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.31sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.31sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.31sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.32sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.33sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.34sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.34sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.35sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.35sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.35sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.35sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.36sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.36sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.36sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.36sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.36sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.36sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.36sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.37sINFOcontroller_serverOptimizer reset ×2 + 15.38sINFOcontroller_serverController Server has FollowPath controllers available. + 15.40sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.40sINFOsmoother_serverConfiguring smoother server + 15.43sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.45sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.46sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.46sINFOplanner_serverConfiguring + 15.46sINFOglobal_costmap.global_costmapConfiguring + 15.48sINFOamclParticle filter initialization completed + 15.48sINFOamclInitializing particles from estimated pose and covariance + 15.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.49sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.50sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.50sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.50sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.51sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.51sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.51sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.51sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.58sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.58sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.58sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.59sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.64sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.64sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.64sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.65sINFOplanner_serverPlanner Server has GridBased planners available. + 15.67sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.67sINFObehavior_serverConfiguring + 15.69sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.70sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.71sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.72sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.73sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.74sINFObehavior_serverConfiguring spin + 15.77sINFObehavior_serverConfiguring backup + 15.78sINFObehavior_serverConfiguring drive_on_heading + 15.80sINFObehavior_serverConfiguring assisted_teleop + 15.83sINFObehavior_serverConfiguring wait + 15.85sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.85sINFObt_navigatorConfiguring + 15.86sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.90sINFOwaypoint_manager_nodeLoaded robot model in 0.55186 seconds[0m ×2 + 15.91sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.91sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.92sWARNbt_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 + 15.97sERRORmove_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_left_wheel.max_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_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.98sWARNmove_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 + 15.98sWARNmove_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. + 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. + 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. + 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. + 16.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.00sWARNmove_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.[0m ×2 + 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.[0m ×2 + 16.12sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.23sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.23sINFOwaypoint_followerConfiguring + 16.27sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.28sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.28sINFOvelocity_smootherConfiguring velocity smoother + 16.28sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.28sINFOcontroller_serverActivating + 16.28sINFOlocal_costmap.local_costmapActivating + 16.28sINFOlocal_costmap.local_costmapChecking transform + 16.28sINFOlocal_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 + 16.51sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.51sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.51sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.51sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.356764 ms (missed cycles : 6). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.356764 ms (missed cycles : 6).[0m ×2 + 16.57sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 16.57sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 16.62sINFOmove_group[2026-08-26 19:04:20.017] [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 + 16.82sWARNwaypoint_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. + 16.82sWARNwaypoint_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 + 16.82sWARNwaypoint_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_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_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_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_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.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_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 + 16.85sWARNwaypoint_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 + 16.85sWARNwaypoint_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. + 16.85sWARNwaypoint_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. + 16.85sWARNwaypoint_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 + 16.85sWARNwaypoint_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 + 16.86sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.86sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 + 16.87sWARNwaypoint_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. + 16.87sWARNwaypoint_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. + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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. + 16.87sWARNwaypoint_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. + 16.88sWARNwaypoint_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 + 16.88sWARNwaypoint_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 + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.89sWARNwaypoint_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. + 16.89sWARNwaypoint_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 + 16.89sWARNwaypoint_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. + 16.89sWARNwaypoint_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 + 16.89sWARNwaypoint_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 + 16.89sWARNwaypoint_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. + 16.89sWARNwaypoint_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. + 16.89sWARNwaypoint_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 + 16.89sWARNwaypoint_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 + 16.89sWARNwaypoint_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 + 16.90sWARNwaypoint_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 + 16.90sWARNwaypoint_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 + 16.90sWARNwaypoint_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 + 16.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.26sINFOwaypoint_manager_node[2026-08-26 19:04:20.658] [moveit_pro_license] [info] ×2 + 17.26sINFOwaypoint_manager_node************************************************* ×4 + 17.26sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.26sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.38sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.38sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.38sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.38sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.38sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.39sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.39sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.39sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.39sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.40sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.40sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.40sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.40sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.40sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.68sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.68sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.69sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.74sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.75sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.75sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.75sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.75sWARNros2_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 + 17.75sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.75sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.75sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 17.75sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.75sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 17.75sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 17.75sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 17.75sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.75sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 17.75sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.75sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 17.75sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 17.75sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 17.75sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.75sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.75sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.75sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.75sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.75sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.75sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.75sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.75sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.75sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.75sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.75sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.75sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.75sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.75sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.75sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.75sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090591 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090591 ms (missed cycles : 2).[0m ×2 + 17.86sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.86sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 17.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 17.90sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.90sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.90sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.90sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.90sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.91sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.91sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.91sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.92sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.01sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 18.01sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 18.01sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 4.097ms + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.13sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.17sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.18sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.18sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.18sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.18sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.18sINFOstreaming_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) + 18.18sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.19sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.19sINFOcomponent_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 + 18.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.20sINFOobjective_server_node[2026-08-26 19:04:21.599] [moveit_pro_license] [info] ×2 + 18.20sINFOobjective_server_node************************************************* ×4 + 18.20sINFOobjective_server_node* MoveIt Pro License ×2 + 18.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.28sINFOlocal_costmap.local_costmapstart + 18.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.31sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.31sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.31sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 18.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 18.32sINFOobjective_server_nodeLoaded robot model in 0.0418351 seconds[0m ×2 + 18.32sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.32sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.33sINFOros2-12process has finished cleanly [pid 9799] ×2 + 18.39sWARNcontroller_serverParameter controller_server.verbose not found + 18.39sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.40sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 18.41sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 18.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.41sINFOplatform_velocity_controller_nav2configure successful + 18.41sINFOros2_control_nodeconfigure successful[0m ×6 + 18.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.44sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.46sINFOstreaming_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) + 18.46sINFOcomponent_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 + 18.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.50sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.50sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.50sINFOsmoother_serverActivating + 18.50sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.53sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.55sWARNcomponent_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 + 18.60sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.60sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.60sINFOplanner_serverActivating + 18.60sINFOglobal_costmap.global_costmapActivating + 18.60sINFOglobal_costmap.global_costmapChecking transform + 18.60sINFOglobal_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 1787771061.974009 but the earliest data is at time 1787771062.367724, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 18.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 18.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 18.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 18.80sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 18.80sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 18.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.86sWARNobjective_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. + 18.87sWARNobjective_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. + 18.87sWARNobjective_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. + 18.87sWARNobjective_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. + 18.87sWARNobjective_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 + 18.87sWARNobjective_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. + 18.87sWARNobjective_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 + 18.87sWARNobjective_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 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417623 ms (missed cycles : 2). + 18.87sWARNobjective_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 + 18.87sWARNobjective_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. + 18.87sWARNobjective_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 + 18.87sWARNobjective_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 + 18.87sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNobjective_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. + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417623 ms (missed cycles : 2).[0m ×2 + 18.88sWARNobjective_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 + 18.88sINFOros2-15process has finished cleanly [pid 9802] ×2 + 18.89sWARNobjective_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 + 18.89sWARNobjective_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 + 18.89sWARNobjective_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 + 18.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.91sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 18.91sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.91sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 18.91sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 18.92sINFOforce_torque_sensor_broadcasterconfigure successful + 18.92sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 18.92sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 18.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 18.93sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.95sINFOcomponent_container_mtLoaded robot model in 0.408545 seconds[0m ×2 + 18.96sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.96sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.96sINFOobjective_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 + 18.96sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.99sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.99sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.99sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.99sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.99sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.99sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.99sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.99sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787771061.268 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.10sINFOglobal_costmap.global_costmapstart + 19.10sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.11sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.29sINFOros2-10process has finished cleanly [pid 9797] ×2 + 19.31sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.31sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 19.31sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 19.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 19.31sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 19.37sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 19.38sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 19.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 19.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 19.39sINFOplatform_velocity_controllerconfigure successful + 19.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 19.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 19.40sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 19.41sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNplanning_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. + 19.49sWARNcomponent_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 + 19.49sWARNplanning_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. + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.58sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 19.58sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.70sINFOcomponent_container_mt[2026-08-26 19:04:23.100] [moveit_pro_license] [info] ×2 + 19.70sINFOcomponent_container_mt************************************************* ×4 + 19.70sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.75sINFOros2-13process has finished cleanly [pid 9800] ×2 + 19.82sINFOmove_groupMoveGroup debug mode is ON + 19.82sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.82sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.84sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 19.84sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 19.89sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.90sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.90sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.90sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.90sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.90sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.90sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.91sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 19.91sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 19.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 19.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.93sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771947 ms (missed cycles : 2). + 19.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771947 ms (missed cycles : 2).[0m ×2 + 20.02sINFOmove_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 ****************************************************** + 20.03sINFOmove_group ×8 + 20.03sINFOmove_group****************************************************** ×4 + 20.03sINFOmove_group* MoveGroup using: ×2 + 20.03sINFOmove_group* - apply_planning_scene_service ×2 + 20.03sINFOmove_group* - clear_octomap_service ×2 + 20.03sINFOmove_group* - get_group_urdf ×2 + 20.03sINFOmove_group* - load_geometry_from_file ×2 + 20.03sINFOmove_group* - get_planning_scene_service ×2 + 20.03sINFOmove_group* - kinematics_service ×2 + 20.03sINFOmove_group* - save_geometry_to_file ×2 + 20.03sINFOmove_group* - GetPlanningGroups ×2 + 20.03sINFOmove_group* - URDFPlanningSceneCapability ×2 + 20.03sINFOmove_group[0m ×2 + 20.03sINFOmove_group[92mYou can start planning now![0m ×2 + 20.08sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.08sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.16sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.16sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.26sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.26sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.27sINFObehavior_serverActivating + 20.27sINFObehavior_serverActivating spin + 20.27sINFObehavior_serverActivating backup + 20.27sINFObehavior_serverActivating drive_on_heading + 20.27sINFObehavior_serverActivating assisted_teleop + 20.27sINFObehavior_serverActivating wait + 20.27sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.37sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.37sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.37sINFObt_navigatorActivating + 20.44sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 20.46sINFOros2_control_node[2026-08-26 19:04:23.859] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.46sINFOros2_control_node[2026-08-26 19:04:23.862] [info] Controller state will be published at 10 Hz. ×2 + 20.47sINFOros2_control_node[2026-08-26 19:04:23.863] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.54sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 20.54sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 20.55sINFOwaypoint_followerActivating + 20.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 20.65sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.65sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.65sINFOvelocity_smootherActivating + 20.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.75sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.75sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.75sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 20.93sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 20.93sINFOcontroller_managerLoading controller 'vacuum_gripper' + 20.93sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 20.93sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 20.94sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 20.94sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 20.95sINFOros2-18process has finished cleanly [pid 9805] ×2 + 20.96sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 20.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435987 ms (missed cycles : 2). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435987 ms (missed cycles : 2).[0m ×2 + 20.99sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.00sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.00sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.01sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.01sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 21.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.34sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 21.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.34sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 21.39sINFOros2-14process has finished cleanly [pid 9801] ×2 + 21.41sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.89sINFOros2_control_node[2026-08-26 19:04:25.292] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.90sINFOros2_control_node[2026-08-26 19:04:25.294] [info] Controller state will be published at 10 Hz. ×2 + 21.90sINFOros2_control_node[2026-08-26 19:04:25.295] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715386 ms (missed cycles : 2). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715386 ms (missed cycles : 2).[0m ×2 + 22.25sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 22.25sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 22.25sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 22.25sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 22.25sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 22.26sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 22.29sINFOros2-17process has finished cleanly [pid 9804] ×2 + 22.32sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 22.32sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 22.32sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 22.32sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 22.32sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 22.32sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 22.33sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 22.33sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 22.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.68sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 22.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 22.73sINFOros2-11process has finished cleanly [pid 9798] ×2 + 22.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865324 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865324 ms (missed cycles : 2).[0m ×2 + 23.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 23.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 23.19sINFOros2-16process has finished cleanly [pid 9803] ×2 + 23.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 23.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 23.31sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 23.31sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 23.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 23.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 23.85sINFOros2_control_node[2026-08-26 19:04:27.242] [info] Controller state will be published at 20 Hz. ×2 + 23.85sINFOros2_control_node[2026-08-26 19:04:27.243] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.20sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 24.20sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713088 ms (missed cycles : 2). + 24.21sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 24.21sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 + 24.21sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713088 ms (missed cycles : 2).[0m ×2 + 24.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mgzrroso --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_je_lual6 --params-file /tmp/launch_params_dkcvxqm4 [0m ×2 + 24.24sINFOros2-20process has finished cleanly [pid 9807] ×2 + 24.30sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 24.30sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 24.30sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 24.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 24.82sINFOros2_control_node[2026-08-26 19:04:28.222] [info] Controller state will be published at 20 Hz. ×2 + 24.83sINFOros2_control_node[2026-08-26 19:04:28.223] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.19sINFOros2-19process has finished cleanly [pid 9806] ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247844 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247844 ms (missed cycles : 2).[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 27.79sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 30.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.17sINFOmove_groupClearing octomap...[0m ×2 + 30.17sINFOmove_groupOctomap cleared.[0m ×2 + 30.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 30.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 31.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 32.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 32.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 32.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.4s	3 errors · 226 warnings · 242 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.342ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.773ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.067ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388649 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388649 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.031ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751525 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751525 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.971ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.690ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720772 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720772 ms (missed cycles : 3).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.011ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.279ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224299 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224299 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOjoint_trajectory_controllerGot request to cancel goal + 4.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.30sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.30sERRORobjective_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: 1787771287.39799762 seconds ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.170ms + 4.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787771287.99315190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157282 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157282 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608924 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608924 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282324 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282324 ms (missed cycles : 3).[0m ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.80sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.80sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.80sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.80sINFOros2_control_nodeAccepted new action goal[0m ×10 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976004 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976004 ms (missed cycles : 4).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071570 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071570 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.975ms + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.181ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996134 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996134 ms (missed cycles : 3).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.584ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.734ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803478 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803478 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.954ms + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.001ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718057 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718057 ms (missed cycles : 2).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.888ms + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807879 ms (missed cycles : 4). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807879 ms (missed cycles : 4).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 6.619ms + 14.20sINFOamclParticle filter update iteration stats: 3315 particles 723 points - 5.655ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523990 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523990 ms (missed cycles : 4).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 3.371ms + 15.19sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 3.082ms + 15.69sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.348ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538739 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538739 ms (missed cycles : 3).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.399ms + 16.69sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 1.671ms + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426320 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426320 ms (missed cycles : 2).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.568ms + 17.68sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.226ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312525 ms (missed cycles : 4). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312525 ms (missed cycles : 4).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568250 ms (missed cycles : 3). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568250 ms (missed cycles : 3).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757165 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757165 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.482ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001566 ms (missed cycles : 6). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001566 ms (missed cycles : 6).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251630 ms (missed cycles : 4). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251630 ms (missed cycles : 4).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867083 ms (missed cycles : 3). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867083 ms (missed cycles : 3).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179581 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179581 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679799 ms (missed cycles : 3). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679799 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms ×3 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593140 ms (missed cycles : 3). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593140 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561749 ms (missed cycles : 3). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561749 ms (missed cycles : 3).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.735ms + 28.10sINFOros2_control_nodeMuJoCo sim: 8.87% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479165 ms (missed cycles : 4). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479165 ms (missed cycles : 4).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157249 ms (missed cycles : 3). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157249 ms (missed cycles : 3).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069586 ms (missed cycles : 3). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069586 ms (missed cycles : 3).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395135 ms (missed cycles : 4). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395135 ms (missed cycles : 4).[0m ×2 + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017679 ms (missed cycles : 3). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017679 ms (missed cycles : 3).[0m ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878206 ms (missed cycles : 2). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878206 ms (missed cycles : 2).[0m ×2 + 35.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229469 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229469 ms (missed cycles : 2).[0m ×2 + 36.17sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 36.17sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.54sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651970 ms (missed cycles : 4). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651970 ms (missed cycles : 4).[0m ×2 + 37.51sINFOobjective_server_nodePlanning for 33 path waypoints. ×6 + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649183 ms (missed cycles : 5). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649183 ms (missed cycles : 5).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309977 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309977 ms (missed cycles : 2).[0m ×2 + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718484 ms (missed cycles : 3). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718484 ms (missed cycles : 3).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms ×2 + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 40.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791172 ms (missed cycles : 5). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791172 ms (missed cycles : 5).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 41.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663564 ms (missed cycles : 2). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663564 ms (missed cycles : 2).[0m ×2 + 42.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 42.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906450 ms (missed cycles : 3). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906450 ms (missed cycles : 3).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775006 ms (missed cycles : 3). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775006 ms (missed cycles : 3).[0m ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691499 ms (missed cycles : 2). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691499 ms (missed cycles : 2).[0m ×2 + 46.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668951 ms (missed cycles : 3). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668951 ms (missed cycles : 3).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870363 ms (missed cycles : 4). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870363 ms (missed cycles : 4).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805630 ms (missed cycles : 2). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805630 ms (missed cycles : 2).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830117 ms (missed cycles : 3). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830117 ms (missed cycles : 3).[0m ×2 + 50.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 50.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938180 ms (missed cycles : 4). + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938180 ms (missed cycles : 4).[0m ×2 + 51.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044103 ms (missed cycles : 2). + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044103 ms (missed cycles : 2).[0m ×2 + 52.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 52.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547564 ms (missed cycles : 3). + 52.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547564 ms (missed cycles : 3).[0m ×2 + 53.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 53.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270952 ms (missed cycles : 4). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270952 ms (missed cycles : 4).[0m ×2 + 54.70sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 54.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562719 ms (missed cycles : 3). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562719 ms (missed cycles : 3).[0m ×2 + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854359 ms (missed cycles : 3). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854359 ms (missed cycles : 3).[0m ×2 + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792977 ms (missed cycles : 4). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792977 ms (missed cycles : 4).[0m ×2 + 58.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838404 ms (missed cycles : 2). + 58.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838404 ms (missed cycles : 2).[0m ×2 + 58.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881920 ms (missed cycles : 4). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881920 ms (missed cycles : 4).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951314 ms (missed cycles : 2). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951314 ms (missed cycles : 2).[0m ×2 + 60.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 61.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785025 ms (missed cycles : 3). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785025 ms (missed cycles : 3).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170822 ms (missed cycles : 4). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170822 ms (missed cycles : 4).[0m ×2 + 62.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 63.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499141 ms (missed cycles : 3). + 63.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499141 ms (missed cycles : 3).[0m ×2 + 63.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 64.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 64.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268873 ms (missed cycles : 2). + 64.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268873 ms (missed cycles : 2).[0m ×2 + 64.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 65.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744434 ms (missed cycles : 2). + 65.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744434 ms (missed cycles : 2).[0m ×2 + 66.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622736 ms (missed cycles : 4). + 66.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622736 ms (missed cycles : 4).[0m ×2 + 67.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476053 ms (missed cycles : 4). + 67.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476053 ms (missed cycles : 4).[0m ×2 + 67.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 68.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394586 ms (missed cycles : 4). + 68.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394586 ms (missed cycles : 4).[0m ×2 + 69.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037358 ms (missed cycles : 3). + 69.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037358 ms (missed cycles : 3).[0m ×2 + 69.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 70.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 71.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750189 ms (missed cycles : 3). + 71.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750189 ms (missed cycles : 3).[0m ×2 + 71.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 72.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206497 ms (missed cycles : 3). + 72.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206497 ms (missed cycles : 3).[0m ×2 + 72.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 73.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524068 ms (missed cycles : 4). + 73.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524068 ms (missed cycles : 4).[0m ×2 + 73.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 74.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 74.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957602 ms (missed cycles : 3). + 74.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957602 ms (missed cycles : 3).[0m ×2 + 75.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 75.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598098 ms (missed cycles : 3). + 75.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598098 ms (missed cycles : 3).[0m ×2 + 75.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 76.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676267 ms (missed cycles : 5). + 76.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676267 ms (missed cycles : 5).[0m ×2 + 77.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 77.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787771360.81334448 seconds ×3 + 77.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571054 ms (missed cycles : 4). + 77.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571054 ms (missed cycles : 4).[0m ×2 + 77.78sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.78sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.447ms + 78.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787771361.39632273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666948 ms (missed cycles : 3). + 78.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666948 ms (missed cycles : 3).[0m ×2 + 79.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3). + 79.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	58.1s	182 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2).[0m ×2 + 0.28sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.28sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771119.24722600 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.56sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.884ms + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771119.84530807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.20sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.20sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.20sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.20sINFOros2_control_nodeAccepted new action goal[0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783734 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783734 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787771122.83544707 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787771123.42240739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257749 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257749 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619452 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619452 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820556 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820556 ms (missed cycles : 3).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737570 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737570 ms (missed cycles : 3).[0m ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822785 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822785 ms (missed cycles : 3).[0m ×2 + 9.66sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.585ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524945 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524945 ms (missed cycles : 3).[0m ×2 + 10.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 10.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482395 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482395 ms (missed cycles : 3).[0m ×2 + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 11.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482104 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482104 ms (missed cycles : 3).[0m ×2 + 12.26sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606906 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606906 ms (missed cycles : 3).[0m ×2 + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 13.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113906 ms (missed cycles : 3). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113906 ms (missed cycles : 3).[0m ×2 + 14.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 14.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms ×3 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204921 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204921 ms (missed cycles : 4).[0m ×2 + 15.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 16.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786734 ms (missed cycles : 3). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786734 ms (missed cycles : 3).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737070 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737070 ms (missed cycles : 2).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174081 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174081 ms (missed cycles : 2).[0m ×2 + 18.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 19.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3).[0m ×2 + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447550 ms (missed cycles : 3). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447550 ms (missed cycles : 3).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms ×2 + 21.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346701 ms (missed cycles : 2). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346701 ms (missed cycles : 2).[0m ×2 + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 22.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735536 ms (missed cycles : 3). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735536 ms (missed cycles : 3).[0m ×2 + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786343 ms (missed cycles : 2). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786343 ms (missed cycles : 2).[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 24.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709653 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709653 ms (missed cycles : 3).[0m ×2 + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680894 ms (missed cycles : 2). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680894 ms (missed cycles : 2).[0m ×2 + 26.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms ×2 + 26.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782567 ms (missed cycles : 3). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782567 ms (missed cycles : 3).[0m ×2 + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006817 ms (missed cycles : 4). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006817 ms (missed cycles : 4).[0m ×2 + 28.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.176ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144903 ms (missed cycles : 4). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144903 ms (missed cycles : 4).[0m ×2 + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816711 ms (missed cycles : 4). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816711 ms (missed cycles : 4).[0m ×2 + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 31.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687002 ms (missed cycles : 2). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687002 ms (missed cycles : 2).[0m ×2 + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064461 ms (missed cycles : 4). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064461 ms (missed cycles : 4).[0m ×2 + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693665 ms (missed cycles : 3). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693665 ms (missed cycles : 3).[0m ×2 + 34.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582406 ms (missed cycles : 3). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582406 ms (missed cycles : 3).[0m ×2 + 35.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985918 ms (missed cycles : 5). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985918 ms (missed cycles : 5).[0m ×2 + 36.41sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892000 ms (missed cycles : 2). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892000 ms (missed cycles : 2).[0m ×2 + 38.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883941 ms (missed cycles : 2). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883941 ms (missed cycles : 2).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808999 ms (missed cycles : 3). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808999 ms (missed cycles : 3).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862679 ms (missed cycles : 2). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862679 ms (missed cycles : 2).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892672 ms (missed cycles : 4). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892672 ms (missed cycles : 4).[0m ×2 + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366135 ms (missed cycles : 3). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366135 ms (missed cycles : 3).[0m ×2 + 42.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560987 ms (missed cycles : 3). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560987 ms (missed cycles : 3).[0m ×2 + 44.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780934 ms (missed cycles : 4). + 44.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780934 ms (missed cycles : 4).[0m ×2 + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741514 ms (missed cycles : 3). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741514 ms (missed cycles : 3).[0m ×2 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161725 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161725 ms (missed cycles : 2).[0m ×2 + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694568 ms (missed cycles : 4). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694568 ms (missed cycles : 4).[0m ×2 + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555200 ms (missed cycles : 4). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555200 ms (missed cycles : 4).[0m ×2 + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933703 ms (missed cycles : 2). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933703 ms (missed cycles : 2).[0m ×2 + 51.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937163 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937163 ms (missed cycles : 2).[0m ×2 + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744529 ms (missed cycles : 2). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744529 ms (missed cycles : 2).[0m ×2 + 53.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687979 ms (missed cycles : 3). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687979 ms (missed cycles : 3).[0m ×2 + 53.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 54.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923903 ms (missed cycles : 2). + 54.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923903 ms (missed cycles : 2).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944179 ms (missed cycles : 2). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944179 ms (missed cycles : 2).[0m ×2 + 56.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389255 ms (missed cycles : 3). + 56.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389255 ms (missed cycles : 3).[0m ×2 + 56.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057610 ms (missed cycles : 2). + 57.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057610 ms (missed cycles : 2).[0m ×2 + 58.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4). + 58.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4).[0m ×2 + 59.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4). + 59.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4).[0m ×2 + 60.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3). + 60.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3).[0m ×2 + 61.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 61.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5). + 61.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5).[0m ×2 + 61.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771180.89255428 seconds ×3 + 62.05sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 62.05sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 62.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.179ms + 62.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771181.50373530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3). + 62.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3).[0m ×2 + 62.95sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 63.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2). + 63.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	185 warnings · 174 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.27sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790932 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790932 ms (missed cycles : 2).[0m ×2 + 7.60sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.60sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.60sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.60sINFOros2_control_nodeAccepted new action goal[0m ×6 + 8.24sINFOros2_control_nodeMuJoCo sim: 11.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447413 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447413 ms (missed cycles : 3).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.231ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808919 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808919 ms (missed cycles : 3).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.436ms + 10.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.212ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663275 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663275 ms (missed cycles : 3).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.323ms + 11.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.342ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265266 ms (missed cycles : 5). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265266 ms (missed cycles : 5).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.043ms + 12.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.792ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365973 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365973 ms (missed cycles : 3).[0m ×2 + 13.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 13.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676199 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676199 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.619ms + 14.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.160ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669086 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669086 ms (missed cycles : 3).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.454ms + 15.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.876ms + 16.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569440 ms (missed cycles : 4). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569440 ms (missed cycles : 4).[0m ×2 + 16.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.591ms + 17.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.356ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241974 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241974 ms (missed cycles : 2).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.453ms + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.471ms + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077032 ms (missed cycles : 3). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077032 ms (missed cycles : 3).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.260ms + 19.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.669ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314968 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314968 ms (missed cycles : 2).[0m ×2 + 19.53sINFOamclParticle filter update iteration stats: 4900 particles 723 points - 6.577ms + 20.04sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 7.162ms + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699285 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699285 ms (missed cycles : 3).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 4.857ms + 21.03sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 5.788ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412278 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412278 ms (missed cycles : 3).[0m ×2 + 21.53sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.607ms + 22.03sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.465ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304472 ms (missed cycles : 3). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304472 ms (missed cycles : 3).[0m ×2 + 22.52sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.951ms + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804412 ms (missed cycles : 3). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804412 ms (missed cycles : 3).[0m ×2 + 23.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190727 ms (missed cycles : 4). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190727 ms (missed cycles : 4).[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816912 ms (missed cycles : 2). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816912 ms (missed cycles : 2).[0m ×2 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761519 ms (missed cycles : 3). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761519 ms (missed cycles : 3).[0m ×2 + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 27.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.532810 ms (missed cycles : 4). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.532810 ms (missed cycles : 4).[0m ×2 + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719258 ms (missed cycles : 5). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719258 ms (missed cycles : 5).[0m ×2 + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983257 ms (missed cycles : 3). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983257 ms (missed cycles : 3).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218691 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218691 ms (missed cycles : 2).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 31.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236452 ms (missed cycles : 2). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236452 ms (missed cycles : 2).[0m ×2 + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685375 ms (missed cycles : 4). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685375 ms (missed cycles : 4).[0m ×2 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms ×2 + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282543 ms (missed cycles : 2). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282543 ms (missed cycles : 2).[0m ×2 + 34.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 34.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013873 ms (missed cycles : 4). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013873 ms (missed cycles : 4).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055950 ms (missed cycles : 2). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055950 ms (missed cycles : 2).[0m ×2 + 36.01sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518853 ms (missed cycles : 4). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518853 ms (missed cycles : 4).[0m ×2 + 37.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280477 ms (missed cycles : 2). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280477 ms (missed cycles : 2).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697729 ms (missed cycles : 3). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697729 ms (missed cycles : 3).[0m ×2 + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154972 ms (missed cycles : 3). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154972 ms (missed cycles : 3).[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999652 ms (missed cycles : 3). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999652 ms (missed cycles : 3).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228824 ms (missed cycles : 2). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228824 ms (missed cycles : 2).[0m ×2 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501770 ms (missed cycles : 3). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501770 ms (missed cycles : 3).[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061594 ms (missed cycles : 5). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061594 ms (missed cycles : 5).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362730 ms (missed cycles : 4). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362730 ms (missed cycles : 4).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785273 ms (missed cycles : 2). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785273 ms (missed cycles : 2).[0m ×2 + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681064 ms (missed cycles : 3). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681064 ms (missed cycles : 3).[0m ×2 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932695 ms (missed cycles : 5). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932695 ms (missed cycles : 5).[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924902 ms (missed cycles : 3). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924902 ms (missed cycles : 3).[0m ×2 + 50.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958055 ms (missed cycles : 3). + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958055 ms (missed cycles : 3).[0m ×2 + 51.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 51.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152578 ms (missed cycles : 5). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152578 ms (missed cycles : 5).[0m ×2 + 52.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787710 ms (missed cycles : 2). + 52.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787710 ms (missed cycles : 2).[0m ×2 + 52.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 53.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975766 ms (missed cycles : 3). + 53.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975766 ms (missed cycles : 3).[0m ×2 + 55.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150207 ms (missed cycles : 5). + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150207 ms (missed cycles : 5).[0m ×2 + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064795 ms (missed cycles : 3). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064795 ms (missed cycles : 3).[0m ×2 + 56.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557710 ms (missed cycles : 4). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557710 ms (missed cycles : 4).[0m ×2 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575978 ms (missed cycles : 4). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575978 ms (missed cycles : 4).[0m ×2 + 59.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141009 ms (missed cycles : 3). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141009 ms (missed cycles : 3).[0m ×2 + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681953 ms (missed cycles : 3). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681953 ms (missed cycles : 3).[0m ×2 + 60.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 61.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288029 ms (missed cycles : 2). + 61.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288029 ms (missed cycles : 2).[0m ×2 + 61.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787771424.65230823 seconds ×3 + 61.81sWARNlocal_costmap.local_costmapSensor origin at (-2.31, 10.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.82sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 10.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.574ms + 61.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.658ms + 62.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787771425.25719666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933673 ms (missed cycles : 3). + 62.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933673 ms (missed cycles : 3).[0m ×2 + 62.70sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 63.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995159 ms (missed cycles : 2). + 63.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995159 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	56.5s	184 warnings · 190 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787771220.12895060 seconds ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.591ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787771220.71875453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699798 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699798 ms (missed cycles : 3).[0m ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766517 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766517 ms (missed cycles : 2).[0m ×2 + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.014ms + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877797 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877797 ms (missed cycles : 2).[0m ×2 + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.242ms + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214274 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214274 ms (missed cycles : 2).[0m ×2 + 11.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.484ms + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.216ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502370 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502370 ms (missed cycles : 2).[0m ×2 + 12.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.454ms + 12.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.054ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953718 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953718 ms (missed cycles : 2).[0m ×2 + 13.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms + 13.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227215 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227215 ms (missed cycles : 4).[0m ×2 + 14.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.838ms + 14.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.414ms + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350313 ms (missed cycles : 4). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350313 ms (missed cycles : 4).[0m ×2 + 15.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.206ms + 15.66sINFOamclParticle filter update iteration stats: 4880 particles 723 points - 7.708ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074950 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074950 ms (missed cycles : 3).[0m ×2 + 16.16sINFOamclParticle filter update iteration stats: 4570 particles 723 points - 7.180ms + 16.65sINFOamclParticle filter update iteration stats: 4063 particles 723 points - 5.409ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870849 ms (missed cycles : 4). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870849 ms (missed cycles : 4).[0m ×2 + 17.16sINFOamclParticle filter update iteration stats: 4021 particles 723 points - 4.946ms + 17.66sINFOamclParticle filter update iteration stats: 3918 particles 723 points - 4.928ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744652 ms (missed cycles : 3). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744652 ms (missed cycles : 3).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 5.099ms + 18.65sINFOamclParticle filter update iteration stats: 3772 particles 723 points - 6.723ms + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684566 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684566 ms (missed cycles : 2).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 6.644ms + 19.65sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 4.454ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926647 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926647 ms (missed cycles : 2).[0m ×2 + 20.15sINFOamclParticle filter update iteration stats: 2920 particles 723 points - 3.959ms + 20.64sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 4.966ms + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641469 ms (missed cycles : 3). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641469 ms (missed cycles : 3).[0m ×2 + 21.15sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 3.130ms + 21.65sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 2.506ms + 22.14sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.327ms + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548971 ms (missed cycles : 3). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548971 ms (missed cycles : 3).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.711ms + 23.15sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 1.669ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037811 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037811 ms (missed cycles : 2).[0m ×2 + 23.65sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.581ms + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234703 ms (missed cycles : 4). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234703 ms (missed cycles : 4).[0m ×2 + 24.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382276 ms (missed cycles : 2). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382276 ms (missed cycles : 2).[0m ×2 + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945270 ms (missed cycles : 3). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945270 ms (missed cycles : 3).[0m ×2 + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998282 ms (missed cycles : 3). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998282 ms (missed cycles : 3).[0m ×2 + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832024 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832024 ms (missed cycles : 2).[0m ×2 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 29.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535172 ms (missed cycles : 3). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535172 ms (missed cycles : 3).[0m ×2 + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms ×2 + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859701 ms (missed cycles : 3). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859701 ms (missed cycles : 3).[0m ×2 + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690615 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690615 ms (missed cycles : 2).[0m ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676541 ms (missed cycles : 3). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676541 ms (missed cycles : 3).[0m ×2 + 33.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 33.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120358 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120358 ms (missed cycles : 2).[0m ×2 + 34.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 35.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091120 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091120 ms (missed cycles : 2).[0m ×2 + 35.36sINFOros2_control_nodeMuJoCo sim: 7.18% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746146 ms (missed cycles : 2). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746146 ms (missed cycles : 2).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774678 ms (missed cycles : 4). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774678 ms (missed cycles : 4).[0m ×2 + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021962 ms (missed cycles : 4). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021962 ms (missed cycles : 4).[0m ×2 + 38.68sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962397 ms (missed cycles : 4). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962397 ms (missed cycles : 4).[0m ×2 + 39.45sINFOobjective_server_nodePlanning for 50 path waypoints. ×3 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564524 ms (missed cycles : 4). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564524 ms (missed cycles : 4).[0m ×2 + 40.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699202 ms (missed cycles : 5). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699202 ms (missed cycles : 5).[0m ×2 + 42.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 42.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407809 ms (missed cycles : 3). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407809 ms (missed cycles : 3).[0m ×2 + 42.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 43.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940439 ms (missed cycles : 5). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940439 ms (missed cycles : 5).[0m ×2 + 43.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 44.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 44.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854716 ms (missed cycles : 3). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854716 ms (missed cycles : 3).[0m ×2 + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157193 ms (missed cycles : 2). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157193 ms (missed cycles : 2).[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518529 ms (missed cycles : 3). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518529 ms (missed cycles : 3).[0m ×2 + 47.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379880 ms (missed cycles : 4). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379880 ms (missed cycles : 4).[0m ×2 + 49.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166745 ms (missed cycles : 4). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166745 ms (missed cycles : 4).[0m ×2 + 49.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456687 ms (missed cycles : 4). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456687 ms (missed cycles : 4).[0m ×2 + 51.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574677 ms (missed cycles : 3). + 51.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574677 ms (missed cycles : 3).[0m ×2 + 51.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388294 ms (missed cycles : 3). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388294 ms (missed cycles : 3).[0m ×2 + 52.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 53.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540784 ms (missed cycles : 3). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540784 ms (missed cycles : 3).[0m ×2 + 53.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 54.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743572 ms (missed cycles : 4). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743572 ms (missed cycles : 4).[0m ×2 + 54.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 55.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802817 ms (missed cycles : 2). + 55.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802817 ms (missed cycles : 2).[0m ×2 + 56.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737441 ms (missed cycles : 2). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737441 ms (missed cycles : 2).[0m ×2 + 57.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916757 ms (missed cycles : 2). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916757 ms (missed cycles : 2).[0m ×2 + 58.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256609 ms (missed cycles : 4). + 58.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256609 ms (missed cycles : 4).[0m ×2 + 59.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023827 ms (missed cycles : 3). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023827 ms (missed cycles : 3).[0m ×2 + 60.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913236 ms (missed cycles : 2). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913236 ms (missed cycles : 2).[0m ×2 + 60.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787771276.62892509 seconds ×3 + 60.94sWARNlocal_costmap.local_costmapSensor origin at (-0.37, 3.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.94sWARNlocal_costmap.local_costmapSensor origin at (-1.24, 3.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.151ms + 61.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.500ms + 61.39sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787771277.22532368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829073 ms (missed cycles : 3). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829073 ms (missed cycles : 3).[0m ×2 + 61.85sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242662 ms (missed cycles : 2). + 62.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242662 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	141 warnings · 265 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282667 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282667 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801052 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801052 ms (missed cycles : 2).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 2.434ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937603 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937603 ms (missed cycles : 3).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771915 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771915 ms (missed cycles : 2).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385624 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385624 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248577 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248577 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637358 ms (missed cycles : 4). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637358 ms (missed cycles : 4).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220591 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220591 ms (missed cycles : 2).[0m ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695195 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695195 ms (missed cycles : 3).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054949 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054949 ms (missed cycles : 2).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067302 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067302 ms (missed cycles : 2).[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496008 ms (missed cycles : 3). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496008 ms (missed cycles : 3).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889724 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889724 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096220 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096220 ms (missed cycles : 2).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922093 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922093 ms (missed cycles : 2).[0m ×2 + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564509 ms (missed cycles : 3). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564509 ms (missed cycles : 3).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295721 ms (missed cycles : 4). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295721 ms (missed cycles : 4).[0m ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307099 ms (missed cycles : 3). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307099 ms (missed cycles : 3).[0m ×2 + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182201 ms (missed cycles : 2). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182201 ms (missed cycles : 2).[0m ×2 + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105050 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105050 ms (missed cycles : 3).[0m ×2 + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184021 ms (missed cycles : 4). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184021 ms (missed cycles : 4).[0m ×2 + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365635 ms (missed cycles : 3). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365635 ms (missed cycles : 3).[0m ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112139 ms (missed cycles : 3). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112139 ms (missed cycles : 3).[0m ×2 + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184325 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184325 ms (missed cycles : 2).[0m ×2 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604924 ms (missed cycles : 3). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604924 ms (missed cycles : 3).[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629977 ms (missed cycles : 3). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629977 ms (missed cycles : 3).[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086203 ms (missed cycles : 3). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086203 ms (missed cycles : 3).[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948151 ms (missed cycles : 2). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948151 ms (missed cycles : 2).[0m ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692786 ms (missed cycles : 3). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692786 ms (missed cycles : 3).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399329 ms (missed cycles : 2). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399329 ms (missed cycles : 2).[0m ×2 + 38.20sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 2.629ms + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106299 ms (missed cycles : 2). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106299 ms (missed cycles : 2).[0m ×2 + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118750 ms (missed cycles : 2). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118750 ms (missed cycles : 2).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215207 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215207 ms (missed cycles : 2).[0m ×2 + 41.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728864 ms (missed cycles : 3). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728864 ms (missed cycles : 3).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527998 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527998 ms (missed cycles : 3).[0m ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575845 ms (missed cycles : 3). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575845 ms (missed cycles : 3).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3).[0m ×2 + 46.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2).[0m ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2).[0m ×2 + 47.42sINFOjoint_trajectory_controllerGoal reached, success! + 47.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771119.24722600 seconds ×3 + 47.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.70sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.884ms + 48.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771119.84530807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3).[0m ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3).[0m ×2 + 49.32sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 49.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	113 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349900 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349900 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737824 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737824 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083141 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083141 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230231 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230231 ms (missed cycles : 3).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787771187.29388022 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457440 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457440 ms (missed cycles : 3).[0m ×2 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.82sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787771188.88880110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978806 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978806 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255411 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255411 ms (missed cycles : 3).[0m ×2 + 7.13sINFOros2_control_nodeMuJoCo sim: 6.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454148 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454148 ms (missed cycles : 3).[0m ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.65sINFOjoint_trajectory_controllerReceived new action goal + 7.65sINFOjoint_trajectory_controllerAccepted new action goal + 7.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342314 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342314 ms (missed cycles : 3).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.160ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614103 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614103 ms (missed cycles : 3).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320795 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320795 ms (missed cycles : 2).[0m ×2 + 10.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.953ms + 11.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.782ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422398 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422398 ms (missed cycles : 3).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms + 12.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.377ms + 12.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.931ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545204 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545204 ms (missed cycles : 3).[0m ×2 + 13.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.783ms + 13.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.138ms + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644783 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644783 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.538ms + 14.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.671ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688263 ms (missed cycles : 4). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688263 ms (missed cycles : 4).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms + 15.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.872ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678648 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678648 ms (missed cycles : 2).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.771ms + 16.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.093ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541188 ms (missed cycles : 3). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541188 ms (missed cycles : 3).[0m ×2 + 17.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 17.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.863ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170146 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170146 ms (missed cycles : 2).[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.974ms + 18.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.870ms + 19.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947171 ms (missed cycles : 3). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947171 ms (missed cycles : 3).[0m ×2 + 19.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 20.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.091ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168893 ms (missed cycles : 4). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168893 ms (missed cycles : 4).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 7.696ms + 21.03sINFOamclParticle filter update iteration stats: 4239 particles 723 points - 5.674ms + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020406 ms (missed cycles : 3). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020406 ms (missed cycles : 3).[0m ×2 + 21.53sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 5.430ms + 22.03sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 6.535ms + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181319 ms (missed cycles : 5). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181319 ms (missed cycles : 5).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 4.355ms + 23.03sINFOamclParticle filter update iteration stats: 2815 particles 723 points - 4.234ms + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841421 ms (missed cycles : 4). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841421 ms (missed cycles : 4).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 3.630ms + 24.02sINFOamclParticle filter update iteration stats: 2533 particles 723 points - 3.234ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974632 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974632 ms (missed cycles : 2).[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 3.084ms + 25.02sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.901ms + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030335 ms (missed cycles : 2). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030335 ms (missed cycles : 2).[0m ×2 + 25.53sINFOamclParticle filter update iteration stats: 2429 particles 723 points - 3.234ms + 26.02sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 2.906ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303023 ms (missed cycles : 4). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303023 ms (missed cycles : 4).[0m ×2 + 26.52sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 3.095ms + 27.02sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 3.140ms + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825434 ms (missed cycles : 2). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825434 ms (missed cycles : 2).[0m ×2 + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134727 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134727 ms (missed cycles : 3).[0m ×2 + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471485 ms (missed cycles : 3). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471485 ms (missed cycles : 3).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774650 ms (missed cycles : 2). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774650 ms (missed cycles : 2).[0m ×2 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 31.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5).[0m ×2 + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2).[0m ×2 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3).[0m ×2 + 34.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 34.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2).[0m ×2 + 36.06sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787771220.12895060 seconds ×3 + 36.11sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 36.11sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 36.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.591ms + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2).[0m ×2 + 36.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787771220.71875453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.04sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4).[0m ×2 + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.7s	69 warnings · 186 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575978 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575978 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141009 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141009 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681953 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681953 ms (missed cycles : 3).[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288029 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288029 ms (missed cycles : 2).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.61sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787771424.65230823 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.74sWARNlocal_costmap.local_costmapSensor origin at (-2.31, 10.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.74sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 10.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.574ms + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.658ms + 4.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787771425.25719666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933673 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933673 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995159 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995159 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705824 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705824 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778465 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778465 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337898 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337898 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736374 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736374 ms (missed cycles : 3).[0m ×2 + 10.17sINFOros2_control_nodeMuJoCo sim: 11.77% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678658 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678658 ms (missed cycles : 3).[0m ×2 + 10.64sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 10.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.72sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.87sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 10.99sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.03sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191362 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191362 ms (missed cycles : 2).[0m ×2 + 11.81sINFOobjective_server_nodeFound path in 33 iterations (0.0353173 s). ×2 + 12.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 12.47sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009927 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009927 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171950 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171950 ms (missed cycles : 2).[0m ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 14.28sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726995 ms (missed cycles : 3). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726995 ms (missed cycles : 3).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684300 ms (missed cycles : 3). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684300 ms (missed cycles : 3).[0m ×2 + 15.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.971ms + 16.46sWARNglobal_costmap.global_costmapSensor origin at (-1.52, -3.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 16.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.152ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470359 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470359 ms (missed cycles : 2).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.832ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2).[0m ×2 + 17.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.343ms + 18.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.903ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3).[0m ×2 + 19.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.999ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3).[0m ×2 + 20.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787771441.32247043 seconds ×3 + 20.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.514ms + 20.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771441.94496775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.91sINFOmove_groupClearing octomap...[0m ×2 + 20.91sINFOmove_groupOctomap cleared.[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2).[0m ×2 + 21.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771442.64508939 seconds ×3 + 22.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771443.23139906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2).[0m ×2 + 22.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787771443.71153665 seconds ×3 + 22.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.8s	94 errors · 33 warnings · 430 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.343ms + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.903ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.999ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3).[0m ×2 + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787771441.32247043 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.514ms + 3.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771441.94496775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.07sINFOmove_groupClearing octomap...[0m ×2 + 3.07sINFOmove_groupOctomap cleared.[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771442.64508939 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771443.23139906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787771443.71153665 seconds ×3 + 5.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531370 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531370 ms (missed cycles : 3).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081770 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081770 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870263 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870263 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947034 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947034 ms (missed cycles : 3).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923319 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923319 ms (missed cycles : 3).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038382 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038382 ms (missed cycles : 2).[0m ×2 + 11.21sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.25sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORweb_video_auth_proxy-35process has died [pid 9840, 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 + 11.26sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.28sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORweb_bridge_auth_proxy-34process has died [pid 9839, 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 + 11.28sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.38sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.40sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.42sINFOvideo_server-33process has finished cleanly [pid 9838] ×2 + 11.43sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.45sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.47sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.48sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.51sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.55sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.58sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.60sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.64sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.65sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9837] ×2 + 11.66sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.69sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.73sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.73sINFOcontroller_managerShutdown request received.... + 11.73sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.73sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.73sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.73sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.73sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.73sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.73sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.73sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.73sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.73sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.73sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.73sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.73sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.73sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.73sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.73sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.73sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.73sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.73sINFOcontroller_managerShutting down the controller manager. + 11.75sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.76sERRORmove_group-21process has died [pid 9808, 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_5xsfd_ii --params-file /tmp/launch_params_6mz1fyo1 --params-file /tmp/launch_params_fubqxf4p --params-file /tmp/launch_params_1r77u26_ --params-file /tmp/launch_params_lnns6y4y --params-file /tmp/launch_params__5bfwwmc']. ×2 + 11.77sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.78sINFOui_teleop_bridge-30process has finished cleanly [pid 9835] ×2 + 11.78sINFOcomponent_container_mt-28process has finished cleanly [pid 9833] ×2 + 11.79sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787771450.368 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.80sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.82sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.82sINFOexecute_objective_bridge-29process has finished cleanly [pid 9834] ×2 + 11.84sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.86sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.88sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.88sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.88sINFOmap_serverDeactivating + 11.88sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.90sINFOmap_serverCleaning up + 11.90sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.90sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.91sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.91sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.91sINFOcontroller_serverDeactivating + 11.91sINFOlocal_costmap.local_costmapDeactivating + 11.91sINFOvideo_server2026/08/26 19:10:50 INF shutting down gracefully ×2 + 11.91sINFOvideo_server2026/08/26 19:10:50 INF [WebRTC] closing ×2 + 11.91sINFOvideo_server2026/08/26 19:10:50 INF [RTSP] closing ×2 + 11.91sINFOvideo_server2026/08/26 19:10:50 INF waiting for running hooks ×2 + 11.91sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.91sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.91sERRORamclThe bond connection to the lifecycle manager has been broken + 11.92sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.92sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.92sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.92sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.92sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.92sERRORmove_groupStack trace (most recent call last) in thread 10457: ×2 + 11.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b1a733a63, in __clone ×2 + 11.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b1a6a6aa3, in ×2 + 11.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5b1a938db3, in ×2 + 11.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f5b1b0a9a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5b1acca620, in rclcpp::Rate::sleep() ×2 + 11.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5b1ac0cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5b1abce087, in ×2 + 11.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5b1a907390, in __cxa_throw ×2 + 11.92sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5b1a8f1a54, in std::terminate() ×2 + 11.92sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5b1a9070d9, in ×2 + 11.92sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5b1a8f1ff4, in ×2 + 11.92sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b1a6328fe, in abort ×2 + 11.92sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b1a64f27d, in raise ×2 + 11.92sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b1a6a8b2c, in pthread_kill ×2 + 11.92sERRORmove_groupAborted (Signal sent by tkill() 9808 0) ×2 + 11.93sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.93sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.93sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.93sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.93sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.93sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.93sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.93sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.93sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.93sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.93sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.93sINFOodom_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 + 11.93sINFOodom_qos_relay.pymain() ×2 + 11.93sINFOodom_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 + 11.93sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.93sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.93sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.93sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.93sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.93sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.93sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.93sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.93sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.93sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.94sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.95sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.95sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.95sINFOros2_control_nodepublish_async_failures_ 7[0m ×2 + 12.01sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.02sINFOcontroller_serverCleaning up + 12.02sINFOlocal_costmap.local_costmapCleaning up + 12.06sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.06sINFOsmoother_serverDeactivating + 12.06sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.07sINFOsmoother_serverCleaning up + 12.08sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.08sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.08sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.08sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.08sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.08sINFOvelocity_smootherDeactivating + 12.08sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.09sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.09sINFOplanner_serverDeactivating + 12.09sINFOglobal_costmap.global_costmapDeactivating + 12.15sERRORcomponent_container_isolated-2process has died [pid 9712, 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_p1wx4jg3 --params-file /tmp/launch_params_0g4go69z -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.19sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.19sINFOwaypoint_followerDeactivating + 12.19sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.31sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.31sINFObt_navigatorDeactivating + 12.31sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.42sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.42sINFObehavior_serverDeactivating + 12.42sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.53sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.53sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.53sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.53sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.53sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.53sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.53sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.54sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.54sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.54sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.54sINFOvelocity_smootherCleaning up + 12.54sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.54sINFOwaypoint_followerCleaning up + 12.57sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.57sINFObt_navigatorCleaning up + 12.63sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.63sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.63sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9830] ×2 + 12.64sINFOplanner_serverCleaning up + 12.66sINFOglobal_costmap.global_costmapCleaning up + 12.67sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.67sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.67sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9829] ×2 + 12.70sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.70sINFObehavior_serverCleaning up + 12.71sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.71sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.71sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.71sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.73sINFOwaypoint_manager_node-23process has finished cleanly [pid 9810] ×2 + 12.73sINFOcomponent_container_mt-27process has finished cleanly [pid 9832] ×2 + 12.73sINFOparameter_manager_node-22process has finished cleanly [pid 9809] ×2 + 12.74sINFOobjective_server_node[2026-08-26 19:10:51.610] [moveit_pro_license] [critical] ×2 + 12.74sINFOobjective_server_node************************************************* ×4 + 12.74sINFOobjective_server_node* MoveIt Pro License ×2 + 12.74sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.75sINFObt_navigatorCompleted Cleaning up + 12.75sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.80sINFOobjective_server_node_main-26process has finished cleanly [pid 9831] ×2 + 12.80sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.80sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9718] ×2 + 12.80sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.80sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.80sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.80sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.81sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.82sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9717] ×2 + 12.89sINFOstatic_transform_publisher-4process has finished cleanly [pid 9714] ×2 + 12.91sINFOstatic_transform_publisher-3process has finished cleanly [pid 9713] ×2 + 12.92sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9716] ×2 + 12.93sERRORodom_qos_relay.py-5process has died [pid 9715, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.08sERRORcomponent_container_isolated-1process has died [pid 9711, 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_p1wx4jg3 --params-file /tmp/launch_params_jm3e2ftj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.39sINFOweb_bridge-31process has finished cleanly [pid 9836] ×2 + 14.39sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.46sINFOros2_control_node-9process has finished cleanly [pid 9719] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 55 warnings · 113 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737441 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737441 ms (missed cycles : 2).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916757 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916757 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256609 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256609 ms (missed cycles : 4).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023827 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023827 ms (missed cycles : 3).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913236 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913236 ms (missed cycles : 2).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787771276.62892509 seconds ×3 + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.40sWARNlocal_costmap.local_costmapSensor origin at (-0.37, 3.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sWARNlocal_costmap.local_costmapSensor origin at (-1.24, 3.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.151ms + 4.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.500ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787771277.22532368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829073 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829073 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242662 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242662 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452513 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452513 ms (missed cycles : 2).[0m ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.81sINFOjoint_trajectory_controllerReceived new action goal + 7.81sINFOjoint_trajectory_controllerAccepted new action goal + 7.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274876 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274876 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645137 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645137 ms (missed cycles : 3).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.398ms + 10.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.406ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669785 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669785 ms (missed cycles : 3).[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.342ms + 11.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.773ms + 11.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.067ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388649 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388649 ms (missed cycles : 3).[0m ×2 + 12.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.031ms + 12.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751525 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751525 ms (missed cycles : 2).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.971ms + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.690ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720772 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720772 ms (missed cycles : 3).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.011ms + 14.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.279ms + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224299 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224299 ms (missed cycles : 3).[0m ×2 + 15.00sINFOobjective_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 + 15.01sINFOjoint_trajectory_controllerGot request to cancel goal + 15.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.02sERRORobjective_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: 1787771287.39799762 seconds ×3 + 15.10sWARNlocal_costmap.local_costmapSensor origin at (-0.54, 2.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.10sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.170ms + 15.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787771287.99315190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157282 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157282 ms (missed cycles : 4).[0m ×2 + 16.00sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608924 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608924 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	41 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.43sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771180.89255428 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.179ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771181.50373530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349900 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349900 ms (missed cycles : 4).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737824 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737824 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083141 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083141 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230231 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230231 ms (missed cycles : 3).[0m ×2 + 9.85sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787771187.29388022 seconds ×3 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457440 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457440 ms (missed cycles : 3).[0m ×2 + 11.45sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787771188.88880110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978806 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978806 ms (missed cycles : 2).[0m ×2 + 11.88sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255411 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255411 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	41 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524068 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524068 ms (missed cycles : 4).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957602 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957602 ms (missed cycles : 3).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598098 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598098 ms (missed cycles : 3).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676267 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676267 ms (missed cycles : 5).[0m ×2 + 3.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 4.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787771360.81334448 seconds ×3 + 4.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571054 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571054 ms (missed cycles : 4).[0m ×2 + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.447ms + 4.88sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787771361.39632273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666948 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666948 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 10.77sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 11.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.77sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	27 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575845 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575845 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771119.24722600 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.84sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.884ms + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771119.84530807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783734 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783734 ms (missed cycles : 3).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787771122.83544707 seconds ×3 + 7.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787771123.42240739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257749 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257749 ms (missed cycles : 2).[0m ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619452 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619452 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	22 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.971ms + 0.50sWARNglobal_costmap.global_costmapSensor origin at (-1.52, -3.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.152ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470359 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470359 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.832ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.343ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.903ms + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.999ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3).[0m ×2 + 4.30sINFOjoint_trajectory_controllerGoal reached, success! + 4.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787771441.32247043 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.514ms + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771441.94496775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.95sINFOmove_groupClearing octomap...[0m ×2 + 4.95sINFOmove_groupOctomap cleared.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771442.64508939 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771443.23139906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787771443.71153665 seconds ×3 + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531370 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531370 ms (missed cycles : 3).[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 4.083301 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.75sINFOjoint_trajectory_controllerReceived new action goal + 5.75sINFOjoint_trajectory_controllerAccepted new action goal + 5.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282667 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282667 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771180.89255428 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.179ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771181.50373530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	23 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787771220.12895060 seconds ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.591ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787771220.71875453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	23 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787771220.12895060 seconds ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.591ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787771220.71875453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 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 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[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 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[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 3.575845 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575845 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771119.24722600 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.884ms + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771119.84530807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 3.575845 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575845 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795802 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218618 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771119.24722600 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.884ms + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771119.84530807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001895 ms (missed cycles : 2).[0m ×2 + 0.28sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771119.24722600 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.56sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.884ms + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771119.84530807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768780 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626595 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeFound path in 0 iterations (2.5891e-05 s). ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.20sINFOjoint_trajectory_controllerReceived new action goal + 2.20sINFOjoint_trajectory_controllerAccepted new action goal + 2.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783734 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783734 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787771122.83544707 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787771123.42240739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257749 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257749 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619452 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619452 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771180.89255428 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.179ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771181.50373530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771180.89255428 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.179ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771181.50373530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771180.89255428 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.179ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771181.50373530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252504 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929693 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935486 ms (missed cycles : 3).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192687 ms (missed cycles : 5).[0m ×2 + 3.43sINFOjoint_trajectory_controllerGoal reached, success! + 3.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771180.89255428 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.179ms + 4.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771181.50373530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877384 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187382 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	23 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963040 ms (missed cycles : 5).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279590 ms (missed cycles : 2).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815183 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237081 ms (missed cycles : 2).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787771220.12895060 seconds ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.591ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290974 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787771220.71875453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252565 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645395 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[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 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[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 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[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 3.993686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993686 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302122 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764366 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584466 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079476 ms (missed cycles : 3).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787771367.28646541 seconds ×3 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787771367.88216400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783162 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619700 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	19 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.971ms + 0.50sWARNglobal_costmap.global_costmapSensor origin at (-1.52, -3.04) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.152ms + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470359 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470359 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.832ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260714 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.343ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.903ms + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632434 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.999ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691075 ms (missed cycles : 3).[0m ×2 + 4.30sINFOjoint_trajectory_controllerGoal reached, success! + 4.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787771441.32247043 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.514ms + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771441.94496775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.95sINFOmove_groupClearing octomap...[0m ×2 + 4.95sINFOmove_groupOctomap cleared.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243616 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771442.64508939 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771443.23139906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491518 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787771443.71153665 seconds ×3 + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3
− skipped	—	createvector.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547542 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.82sINFOmove_groupClearing octomap...[0m ×2 + 3.82sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282667 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282667 ms (missed cycles : 3).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_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 3.444072 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444072 ms (missed cycles : 3).[0m ×2 + 0.44sINFOros2_control_nodeMuJoCo sim: 2.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083301 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055432 ms (missed cycles : 3).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771073.56525707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771073.57546091 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683529 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771074.16810131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771074.17823243 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771074.76105714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771074.91180396 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273158 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771075.52641654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771075.58654189 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265728 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771076.17201471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564800 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.79sINFOjoint_trajectory_controllerAccepted new action goal + 6.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.79sINFOros2_control_nodeAccepted new action goal[0m ×2