MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.9s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.8s	12 errors · 307 warnings · 1397 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/2026-08-26-19-17-01-481971-b1b678f91ba6-9667 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.76sINFOstatic_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' + 13.77sINFOstatic_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' + 13.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.85sINFOcontroller_managerupdate rate is 600 Hz + 13.85sINFOcontroller_managerOverruns handling is : enabled + 13.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.85sWARNcontroller_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. + 14.06sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.08sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737201 ms (missed cycles : 2). + 14.12sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.15sINFOros2_control_node-9process started with pid [9725] ×2 + 14.15sINFOmove_group-21process started with pid [9832] ×2 + 14.15sINFOparameter_manager_node-22process started with pid [9833] ×2 + 14.16sINFOwaypoint_manager_node-23process started with pid [9834] ×2 + 14.16sINFOmove_joint_resampler_node-24process started with pid [9837] ×2 + 14.16sINFOmove_end_effector_resampler_node-25process started with pid [9838] ×2 + 14.16sINFOobjective_server_node_main-26process started with pid [9839] ×2 + 14.16sINFOcomponent_container_mt-27process started with pid [9840] ×2 + 14.16sINFOcomponent_container_mt-28process started with pid [9841] ×2 + 14.16sINFOexecute_objective_bridge-29process started with pid [9842] ×2 + 14.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.17sINFOui_teleop_bridge-30process started with pid [9843] ×2 + 14.17sINFOweb_bridge-31process started with pid [9844] ×2 + 14.17sINFOtf2_web_republisher_node-32process started with pid [9845] ×2 + 14.17sINFOvideo_server-33process started with pid [9846] ×2 + 14.17sINFOweb_bridge_auth_proxy-34process started with pid [9847] ×2 + 14.17sINFOweb_video_auth_proxy-35process started with pid [9864] ×2 + 14.18sINFOcontroller_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. + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.18sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.19sINFOcomponent_container_isolated-1process started with pid [9717] ×2 + 14.19sINFOcomponent_container_isolated-2process started with pid [9718] ×2 + 14.19sINFOstatic_transform_publisher-3process started with pid [9719] ×2 + 14.19sINFOstatic_transform_publisher-4process started with pid [9720] ×2 + 14.19sINFOodom_qos_relay.py-5process started with pid [9721] ×2 + 14.19sINFOforward_stereo_publisher.py-6process started with pid [9722] ×2 + 14.19sINFOscan_to_scan_filter_chain-7process started with pid [9723] ×2 + 14.19sINFOscan_to_scan_filter_chain-8process started with pid [9724] ×2 + 14.19sINFOros2-10process started with pid [9821] ×2 + 14.19sINFOros2-11process started with pid [9822] ×2 + 14.19sINFOros2-12process started with pid [9823] ×2 + 14.19sINFOros2-13process started with pid [9824] ×2 + 14.19sINFOros2-14process started with pid [9825] ×2 + 14.19sINFOros2-15process started with pid [9826] ×2 + 14.19sINFOros2-16process started with pid [9827] ×2 + 14.19sINFOros2-17process started with pid [9828] ×2 + 14.19sINFOros2-18process started with pid [9829] ×2 + 14.19sINFOros2-19process started with pid [9830] ×2 + 14.19sINFOros2-20process started with pid [9831] ×2 + 14.27sINFOlocalization_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> + 14.29sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.29sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.29sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.29sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.29sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.30sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.31sINFOcontroller_serverCreating controller server + 14.31sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.31sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.31sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.31sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.31sWARNros2_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 + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737201 ms (missed cycles : 2).[0m ×2 + 14.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 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 + 14.34sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.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. + 14.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.36sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.37sINFOlocal_costmap.local_costmapCreating Costmap + 14.38sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.39sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.39sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 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 + 14.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.41sINFOsmoother_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. + 14.43sINFOcontroller_managerReceived robot description from topic. + 14.43sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.44sINFOrobot_state_publisherRobot initialized + 14.44sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.44sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.44sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.45sINFOsmoother_serverCreating smoother server + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.46sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.48sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.48sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.49sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.51sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.51sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.52sINFOplanner_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_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.56sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.57sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.57sINFOplanner_serverCreating + 14.60sINFOlifecycle_manager_localizationCreating + 14.61sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.62sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.62sINFOglobal_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. + 14.62sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.62sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.62sINFOmap_serverConfiguring + 14.63sINFOglobal_costmap.global_costmapCreating Costmap + 14.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.69sINFObehavior_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. + 14.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.73sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.73sINFOamclConfiguring + 14.74sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.74sINFOmap_serverActivating + 14.74sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.77sWARNlaser_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. + 14.77sWARNscan_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 + 14.77sWARNlaser_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. + 14.81sINFObt_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. + 14.82sINFOvideo_server2026/08/26 19:17:19 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.82sINFOvideo_server2026/08/26 19:17:19 INF configuration loaded from /tmp/moveit-webrtc-kac34wi9/mediamtx.yml ×2 + 14.82sINFOvideo_server2026/08/26 19:17:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.82sINFOvideo_server2026/08/26 19:17:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.84sINFObt_navigatorCreating + 14.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.86sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.86sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.86sINFOamclActivating + 14.86sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.86sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.88sINFOamclSubscribed to map_topic: /map + 14.88sINFOamclSubscribed to scan_topic: /scan_merged + 14.88sINFOamclCreated reinitialize_global_localization service + 14.89sINFOamclCreated request_nomotion_update service + 14.89sINFOamclA new map was received + 14.89sINFOamclInitializing particle filter instance + 14.91sINFOwaypoint_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. + 14.91sINFOwaypoint_followerCreating + 14.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.99sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.558307 seconds + 14.99sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.00sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.00sINFOvelocity_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. + 15.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.02sINFOmove_groupLoaded robot model in 0.558307 seconds[0m ×2 + 15.02sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.02sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.04sINFOlifecycle_manager_navigationCreating + 15.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.07sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.09sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.09sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.09sINFOcontroller_serverConfiguring controller interface + 15.09sINFOcontroller_servergetting progress checker plugins.. + 15.09sINFOcontroller_servergetting goal checker plugins.. + 15.09sINFOcontroller_serverController frequency set to 20.0000Hz + 15.09sINFOlocal_costmap.local_costmapConfiguring + 15.11sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.12sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.15sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.15sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.15sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.18sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.19sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.19sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.19sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550610 ms (missed cycles : 4). + 15.20sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550610 ms (missed cycles : 4).[0m ×2 + 15.21sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.22sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.22sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.24sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.24sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.24sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.25sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.25sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.25sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.25sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.25sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.26sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.26sINFOcontroller_serverOptimizer reset ×2 + 15.27sINFOcontroller_serverController Server has FollowPath controllers available. + 15.28sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.29sINFOsmoother_serverConfiguring smoother server + 15.29sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.30sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.31sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.31sINFOplanner_serverConfiguring + 15.31sINFOglobal_costmap.global_costmapConfiguring + 15.32sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.33sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.33sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.33sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.33sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.38sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.38sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.38sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.42sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.43sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.44sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.44sINFOplanner_serverPlanner Server has GridBased planners available. + 15.47sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.47sINFObehavior_serverConfiguring + 15.47sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.47sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.47sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.48sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.49sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.49sINFObehavior_serverConfiguring spin + 15.53sINFObehavior_serverConfiguring backup + 15.54sINFObehavior_serverConfiguring drive_on_heading + 15.56sINFObehavior_serverConfiguring assisted_teleop + 15.57sINFObehavior_serverConfiguring wait + 15.58sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.58sINFObt_navigatorConfiguring + 15.59sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.60sWARNbt_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 + 15.94sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.02sINFOamclParticle filter initialization completed + 16.02sINFOamclInitializing particles from estimated pose and covariance + 16.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 16.06sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.06sINFOwaypoint_followerConfiguring + 16.07sINFOlifecycle_manager_localizationServer amcl connected with bond. + 16.07sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 16.07sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 16.11sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.11sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.11sINFOvelocity_smootherConfiguring velocity smoother + 16.13sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.13sINFOamclThe bond connection to the lifecycle manager is now fully formed + 16.13sINFOcontroller_serverActivating + 16.13sINFOlocal_costmap.local_costmapActivating + 16.13sINFOlocal_costmap.local_costmapChecking transform + 16.13sINFOlocal_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. ×7 + 16.13sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.14sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.14sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.15sWARNmove_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. + 16.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_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 + 16.15sWARNmove_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 + 16.15sWARNmove_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 + 16.15sWARNmove_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 + 16.15sWARNmove_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 + 16.15sWARNmove_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 + 16.29sINFOwaypoint_manager_nodeLoaded robot model in 0.385034 seconds[0m ×2 + 16.29sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.29sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551688 ms (missed cycles : 4). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551688 ms (missed cycles : 4).[0m ×2 + 16.57sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.59sINFOmove_group[2026-08-26 19:17:21.508] [moveit_pro_license] [info] ×2 + 16.59sINFOmove_group************************************************* ×4 + 16.59sINFOmove_group* MoveIt Pro License ×2 + 16.59sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.72sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.73sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.73sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.73sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.79sINFOros2_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 + 16.80sINFOros2_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 + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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 + 16.91sWARNwaypoint_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. + 16.91sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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 + 16.92sWARNwaypoint_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. + 16.92sWARNwaypoint_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. + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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. + 16.93sWARNwaypoint_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 + 16.93sWARNwaypoint_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 + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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 + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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. + 16.94sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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 + 16.95sWARNwaypoint_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. + 16.95sWARNwaypoint_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 + 17.07sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.07sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.08sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.08sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.08sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.08sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.08sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.08sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.08sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.08sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.08sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.09sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.09sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.09sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.09sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.09sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.09sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.09sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.11sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.37sINFOwaypoint_manager_node[2026-08-26 19:17:22.288] [moveit_pro_license] [info] ×2 + 17.37sINFOwaypoint_manager_node************************************************* ×4 + 17.37sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.37sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.73sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.73sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.73sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.74sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.74sWARNros2_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 + 17.74sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.74sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.74sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 17.74sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.74sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 17.74sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 17.74sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 17.74sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 17.74sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.74sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 17.74sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.74sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 17.74sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 17.74sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.74sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.74sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.74sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.74sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.74sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.74sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.74sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.74sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.74sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.74sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.74sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.74sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.74sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.74sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.74sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.74sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895889 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895889 ms (missed cycles : 2).[0m ×2 + 17.82sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.83sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.84sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.84sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 17.84sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.84sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 17.84sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.96sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.99sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 17.99sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.02sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.04sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.04sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.04sINFOstreaming_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) + 18.04sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.04sINFOcomponent_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 + 18.05sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.06sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.06sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.08sINFOros2_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 + 18.08sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 18.08sWARNros2_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 + 18.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.16sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.21sINFOobjective_server_node[2026-08-26 19:17:23.133] [moveit_pro_license] [info] ×2 + 18.21sINFOobjective_server_node************************************************* ×4 + 18.21sINFOobjective_server_node* MoveIt Pro License ×2 + 18.21sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.26sINFOstreaming_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) + 18.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.26sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.29sINFOobjective_server_nodeLoaded robot model in 0.0294027 seconds[0m ×2 + 18.29sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.29sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.59sINFOcomponent_container_mtLoaded robot model in 0.439601 seconds[0m ×2 + 18.60sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.60sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.61sINFOros2_control_node[2026-08-26 19:17:23.529] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.61sINFOros2_control_node[2026-08-26 19:17:23.532] [info] Controller state will be published at 10 Hz. ×2 + 18.61sINFOros2_control_node[2026-08-26 19:17:23.534] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.83sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.83sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.83sWARNobjective_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. + 18.83sWARNobjective_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. + 18.83sWARNobjective_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. + 18.84sWARNobjective_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. + 18.84sWARNobjective_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 + 18.84sWARNobjective_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. + 18.84sWARNobjective_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 + 18.84sWARNobjective_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. + 18.84sWARNobjective_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. + 18.84sWARNobjective_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. + 18.84sWARNobjective_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 + 18.84sWARNobjective_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 + 18.84sWARNobjective_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. + 18.84sWARNobjective_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 + 18.84sWARNobjective_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 + 18.84sWARNobjective_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 + 18.84sWARNobjective_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. + 18.84sWARNobjective_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 + 18.84sWARNobjective_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 + 18.84sWARNobjective_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 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242147 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242147 ms (missed cycles : 2).[0m ×2 + 18.91sINFOobjective_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 + 18.91sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.94sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.94sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.98sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787771842.778 for reason 'discarding message because the queue is full' + 18.98sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.98sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.98sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.98sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.99sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 18.99sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 19.02sINFOmove_groupMoveGroup debug mode is ON + 19.02sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.03sINFOros2-18process has finished cleanly [pid 9829] ×2 + 19.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.07sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.07sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 19.07sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.07sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.07sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 19.07sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 19.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 19.09sINFOplatform_velocity_controller_nav2configure successful + 19.09sINFOros2_control_nodeconfigure successful[0m ×6 + 19.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.14sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNcomponent_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 + 19.15sWARNplanning_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. + 19.15sWARNplanning_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. + 19.16sWARNcomponent_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 + 19.16sWARNplanning_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. + 19.16sWARNcomponent_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 + 19.16sWARNplanning_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. + 19.16sWARNplanning_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. + 19.16sWARNcomponent_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 + 19.16sWARNplanning_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. + 19.16sWARNcomponent_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 + 19.16sWARNplanning_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. + 19.16sWARNplanning_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. + 19.16sWARNplanning_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. + 19.16sWARNplanning_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. + 19.16sWARNcomponent_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 + 19.16sWARNcomponent_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 + 19.16sWARNcomponent_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 + 19.16sWARNcomponent_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 + 19.16sWARNcomponent_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 + 19.16sWARNcomponent_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 + 19.18sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 19.18sINFOmove_group ×8 + 19.18sINFOmove_group****************************************************** ×4 + 19.18sINFOmove_group* MoveGroup using: ×2 + 19.18sINFOmove_group* - apply_planning_scene_service ×2 + 19.18sINFOmove_group* - clear_octomap_service ×2 + 19.18sINFOmove_group* - get_group_urdf ×2 + 19.18sINFOmove_group* - load_geometry_from_file ×2 + 19.18sINFOmove_group* - get_planning_scene_service ×2 + 19.18sINFOmove_group* - kinematics_service ×2 + 19.18sINFOmove_group* - save_geometry_to_file ×2 + 19.18sINFOmove_group* - GetPlanningGroups ×2 + 19.18sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.18sINFOmove_group[0m ×2 + 19.18sINFOmove_group[92mYou can start planning now![0m ×2 + 19.36sINFOcomponent_container_mt[2026-08-26 19:17:24.280] [moveit_pro_license] [info] ×2 + 19.36sINFOcomponent_container_mt************************************************* ×4 + 19.36sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.36sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.38sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.38sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 19.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 19.47sINFOros2-15process has finished cleanly [pid 9826] ×2 + 19.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.55sINFOcontroller_managerSuccessfully switched controllers! ×19 + 19.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 19.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.63sINFOlocal_costmap.local_costmapstart + 19.64sWARNros2_control_nodeCamera render tick took 0.64 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 + 19.68sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 3.609ms + 19.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.73sWARNcontroller_serverParameter controller_server.verbose not found + 19.73sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 19.84sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 19.84sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 19.84sINFOsmoother_serverActivating + 19.84sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 19.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.86sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 19.87sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 19.87sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.87sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 19.87sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729408 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729408 ms (missed cycles : 2).[0m ×2 + 19.90sINFOros2-12process has finished cleanly [pid 9823] ×2 + 19.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.95sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 19.95sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 19.95sINFOplanner_serverActivating + 19.95sINFOglobal_costmap.global_costmapActivating + 19.95sINFOglobal_costmap.global_costmapChecking transform + 19.95sINFOglobal_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 1787771844.825703 but the earliest data is at time 1787771845.482667, when looking up transform from frame [ridgeback_base_link] to frame [map] + 19.95sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 19.95sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 19.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 19.96sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 19.96sINFOplatform_velocity_controllerconfigure successful + 19.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 19.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 19.97sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 19.97sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.31sINFOros2-13process has finished cleanly [pid 9824] ×2 + 20.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 20.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 20.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.42sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.42sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.42sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.42sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.42sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.42sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.42sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.42sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.43sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.43sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 20.45sINFOglobal_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 1787771845.335750 but the earliest data is at time 1787771845.482667, when looking up transform from frame [ridgeback_base_link] to frame [map] + 20.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.80sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.80sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.80sINFOros2-16process has finished cleanly [pid 9827] ×2 + 20.87sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 20.87sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542130 ms (missed cycles : 3). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542130 ms (missed cycles : 3).[0m ×2 + 20.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 20.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 20.93sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 20.93sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 20.95sINFOglobal_costmap.global_costmapstart + 21.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.42sINFOros2_control_node[2026-08-26 19:17:26.337] [info] Controller state will be published at 20 Hz. ×2 + 21.42sINFOros2_control_node[2026-08-26 19:17:26.338] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 21.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 21.79sINFOros2-19process has finished cleanly [pid 9830] ×2 + 21.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984461 ms (missed cycles : 2). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984461 ms (missed cycles : 2).[0m ×2 + 22.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 22.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 22.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 22.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 22.11sINFObehavior_serverActivating + 22.11sINFObehavior_serverActivating spin + 22.11sINFObehavior_serverActivating backup + 22.11sINFObehavior_serverActivating drive_on_heading + 22.11sINFObehavior_serverActivating assisted_teleop + 22.11sINFObehavior_serverActivating wait + 22.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 22.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 22.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 22.21sINFObt_navigatorActivating + 22.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 22.37sINFOros2_control_node[2026-08-26 19:17:27.288] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.37sINFOros2_control_node[2026-08-26 19:17:27.290] [info] Controller state will be published at 10 Hz. ×2 + 22.37sINFOros2_control_node[2026-08-26 19:17:27.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 22.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 22.38sINFOwaypoint_followerActivating + 22.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 22.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 22.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 22.48sINFOvelocity_smootherActivating + 22.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 22.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 22.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 22.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 22.73sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.73sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.73sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.73sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 22.73sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.73sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 22.74sINFOros2-17process has finished cleanly [pid 9828] ×2 + 22.80sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.80sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.80sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.80sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047994 ms (missed cycles : 3). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047994 ms (missed cycles : 3).[0m ×2 + 23.25sINFOros2_control_node[2026-08-26 19:17:28.173] [info] Controller state will be published at 20 Hz. ×2 + 23.26sINFOros2_control_node[2026-08-26 19:17:28.174] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.60sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 23.60sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 23.60sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 23.60sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 23.60sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 23.60sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 23.64sINFOros2-20process has finished cleanly [pid 9831] ×2 + 23.68sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 23.68sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 23.68sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 23.68sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 23.69sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 23.69sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 23.69sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 23.69sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320289 ms (missed cycles : 3). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320289 ms (missed cycles : 3).[0m ×2 + 24.04sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 24.04sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 24.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 24.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 24.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 24.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 24.07sINFOros2-11process has finished cleanly [pid 9822] ×2 + 24.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 24.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 24.12sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 24.12sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 24.12sINFOforce_torque_sensor_broadcasterconfigure successful + 24.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 24.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 24.13sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 24.13sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 24.48sINFOros2-10process has finished cleanly [pid 9821] ×2 + 24.49sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 24.49sINFOcontroller_managerLoading controller 'vacuum_gripper' + 24.49sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 24.49sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 24.50sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn + 24.50sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_04mzstwt --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_davomx5g --params-file /tmp/launch_params_aoycgatn [0m ×2 + 24.52sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 24.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 24.56sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 24.56sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 24.56sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 24.56sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 24.56sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 24.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 24.56sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 24.57sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 24.57sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 24.57sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 24.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 24.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 24.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.73sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 24.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 24.74sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 24.74sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 24.90sINFOros2-14process has finished cleanly [pid 9825] ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815528 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815528 ms (missed cycles : 2).[0m ×2 + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 27.78sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 29.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.96sINFOmove_groupClearing octomap...[0m ×2 + 29.96sINFOmove_groupOctomap cleared.[0m ×2 + 29.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 30.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 31.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 31.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 31.95sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 31.95sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 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	73.2s	3 errors · 232 warnings · 242 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.883ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176619 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176619 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.112ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.151ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694331 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694331 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.732ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981701 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981701 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.686ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.388ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663768 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663768 ms (missed cycles : 4).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.515ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.682ms + 4.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOjoint_trajectory_controllerGot request to cancel goal + 4.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.17sERRORobjective_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: 1787772067.37978935 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876739 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876739 ms (missed cycles : 2).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.533ms + 4.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787772067.96713567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257575 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257575 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133463 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133463 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800501 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800501 ms (missed cycles : 3).[0m ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.64sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.64sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.64sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.64sINFOros2_control_nodeAccepted new action goal[0m ×10 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867563 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867563 ms (missed cycles : 3).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.619ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542188 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542188 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.878ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.443ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711586 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711586 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165451 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165451 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.457ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437937 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437937 ms (missed cycles : 3).[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.748ms + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.031ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621764 ms (missed cycles : 4). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621764 ms (missed cycles : 4).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 4952 particles 723 points - 7.564ms + 14.50sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 7.083ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981553 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981553 ms (missed cycles : 2).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 3.880ms + 15.49sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 3.454ms + 15.99sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.913ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120652 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120652 ms (missed cycles : 3).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.617ms + 16.99sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.833ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234035 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234035 ms (missed cycles : 3).[0m ×2 + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.226ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812901 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812901 ms (missed cycles : 3).[0m ×2 + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856312 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856312 ms (missed cycles : 2).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921260 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921260 ms (missed cycles : 2).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989466 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989466 ms (missed cycles : 3).[0m ×2 + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877835 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877835 ms (missed cycles : 2).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727811 ms (missed cycles : 2). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727811 ms (missed cycles : 2).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871514 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871514 ms (missed cycles : 2).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.961857 ms (missed cycles : 6). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.961857 ms (missed cycles : 6).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499570 ms (missed cycles : 4). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499570 ms (missed cycles : 4).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597680 ms (missed cycles : 4). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597680 ms (missed cycles : 4).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173512 ms (missed cycles : 2). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173512 ms (missed cycles : 2).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 29.51sINFOros2_control_nodeMuJoCo sim: 9.90% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685124 ms (missed cycles : 2). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685124 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875978 ms (missed cycles : 5). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875978 ms (missed cycles : 5).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451867 ms (missed cycles : 3). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451867 ms (missed cycles : 3).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698517 ms (missed cycles : 2). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698517 ms (missed cycles : 2).[0m ×2 + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767129 ms (missed cycles : 3). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767129 ms (missed cycles : 3).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234315 ms (missed cycles : 2). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234315 ms (missed cycles : 2).[0m ×2 + 36.01sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 36.01sINFOros2_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 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788288 ms (missed cycles : 4). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788288 ms (missed cycles : 4).[0m ×2 + 37.38sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078217 ms (missed cycles : 2). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078217 ms (missed cycles : 2).[0m ×2 + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892928 ms (missed cycles : 5). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892928 ms (missed cycles : 5).[0m ×2 + 39.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930999 ms (missed cycles : 4). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930999 ms (missed cycles : 4).[0m ×2 + 39.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 40.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984732 ms (missed cycles : 4). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984732 ms (missed cycles : 4).[0m ×2 + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208557 ms (missed cycles : 4). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208557 ms (missed cycles : 4).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808739 ms (missed cycles : 3). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808739 ms (missed cycles : 3).[0m ×2 + 42.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517292 ms (missed cycles : 4). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517292 ms (missed cycles : 4).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427535 ms (missed cycles : 2). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427535 ms (missed cycles : 2).[0m ×2 + 45.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886095 ms (missed cycles : 3). + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886095 ms (missed cycles : 3).[0m ×2 + 46.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553604 ms (missed cycles : 3). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553604 ms (missed cycles : 3).[0m ×2 + 47.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761784 ms (missed cycles : 2). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761784 ms (missed cycles : 2).[0m ×2 + 48.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970138 ms (missed cycles : 3). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970138 ms (missed cycles : 3).[0m ×2 + 49.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114424 ms (missed cycles : 3). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114424 ms (missed cycles : 3).[0m ×2 + 51.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401295 ms (missed cycles : 3). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401295 ms (missed cycles : 3).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 52.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361995 ms (missed cycles : 3). + 52.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361995 ms (missed cycles : 3).[0m ×2 + 52.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms ×2 + 53.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894588 ms (missed cycles : 3). + 53.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894588 ms (missed cycles : 3).[0m ×2 + 53.74sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 54.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358527 ms (missed cycles : 3). + 54.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358527 ms (missed cycles : 3).[0m ×2 + 55.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199366 ms (missed cycles : 2). + 55.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199366 ms (missed cycles : 2).[0m ×2 + 56.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081255 ms (missed cycles : 2). + 56.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081255 ms (missed cycles : 2).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457823 ms (missed cycles : 4). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457823 ms (missed cycles : 4).[0m ×2 + 57.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 58.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705706 ms (missed cycles : 4). + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705706 ms (missed cycles : 4).[0m ×2 + 59.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370151 ms (missed cycles : 4). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370151 ms (missed cycles : 4).[0m ×2 + 60.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508814 ms (missed cycles : 4). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508814 ms (missed cycles : 4).[0m ×2 + 60.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 61.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 61.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474896 ms (missed cycles : 2). + 61.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474896 ms (missed cycles : 2).[0m ×2 + 62.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 62.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081178 ms (missed cycles : 4). + 62.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081178 ms (missed cycles : 4).[0m ×2 + 63.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 63.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657341 ms (missed cycles : 4). + 63.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657341 ms (missed cycles : 4).[0m ×2 + 63.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 65.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470994 ms (missed cycles : 4). + 65.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470994 ms (missed cycles : 4).[0m ×2 + 65.29sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 66.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538956 ms (missed cycles : 3). + 66.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538956 ms (missed cycles : 3).[0m ×2 + 66.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 67.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917769 ms (missed cycles : 2). + 67.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917769 ms (missed cycles : 2).[0m ×2 + 68.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251367 ms (missed cycles : 2). + 68.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251367 ms (missed cycles : 2).[0m ×2 + 69.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 69.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702095 ms (missed cycles : 2). + 69.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702095 ms (missed cycles : 2).[0m ×2 + 69.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 70.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384531 ms (missed cycles : 4). + 70.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384531 ms (missed cycles : 4).[0m ×2 + 70.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 71.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 71.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336439 ms (missed cycles : 4). + 71.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336439 ms (missed cycles : 4).[0m ×2 + 72.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 72.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710149 ms (missed cycles : 2). + 72.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710149 ms (missed cycles : 2).[0m ×2 + 73.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 73.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484070 ms (missed cycles : 4). + 73.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484070 ms (missed cycles : 4).[0m ×2 + 73.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 74.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 74.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644221 ms (missed cycles : 4). + 74.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644221 ms (missed cycles : 4).[0m ×2 + 75.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 75.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684491 ms (missed cycles : 2). + 75.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684491 ms (missed cycles : 2).[0m ×2 + 76.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540289 ms (missed cycles : 2). + 76.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 76.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540289 ms (missed cycles : 2).[0m ×2 + 77.33sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787772140.53731036 seconds ×3 + 77.44sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 14.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.44sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.971ms + 77.92sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787772141.12639070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137442 ms (missed cycles : 5). + 77.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137442 ms (missed cycles : 5).[0m ×2 + 79.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391272 ms (missed cycles : 2). + 79.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391272 ms (missed cycles : 2).[0m ×2 + 80.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 80.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	58.1s	188 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2).[0m ×2 + 0.74sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.74sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771900.49913764 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 0.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 0.80sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 0.80sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 0.96sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.657ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771901.08243799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeFound path in 0 iterations (3.3594e-05 s). ×2 + 2.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.54sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.54sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.54sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.54sINFOros2_control_nodeAccepted new action goal[0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787771903.98256421 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257286 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257286 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787771904.57183790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826176 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826176 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136304 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136304 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237466 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237466 ms (missed cycles : 3).[0m ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200413 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200413 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495646 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495646 ms (missed cycles : 3).[0m ×2 + 10.06sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.830ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353832 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353832 ms (missed cycles : 2).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 11.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158097 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158097 ms (missed cycles : 2).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798967 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798967 ms (missed cycles : 2).[0m ×2 + 12.96sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341368 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341368 ms (missed cycles : 3).[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321758 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321758 ms (missed cycles : 3).[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486707 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486707 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839732 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839732 ms (missed cycles : 2).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823060 ms (missed cycles : 3). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823060 ms (missed cycles : 3).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms ×4 + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770824 ms (missed cycles : 3). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770824 ms (missed cycles : 3).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms ×2 + 19.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095908 ms (missed cycles : 3). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095908 ms (missed cycles : 3).[0m ×2 + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791799 ms (missed cycles : 3). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791799 ms (missed cycles : 3).[0m ×2 + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753824 ms (missed cycles : 3). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753824 ms (missed cycles : 3).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332268 ms (missed cycles : 3). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332268 ms (missed cycles : 3).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909566 ms (missed cycles : 3). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909566 ms (missed cycles : 3).[0m ×2 + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015715 ms (missed cycles : 4). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015715 ms (missed cycles : 4).[0m ×2 + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414861 ms (missed cycles : 4). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414861 ms (missed cycles : 4).[0m ×2 + 26.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms ×3 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293670 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293670 ms (missed cycles : 2).[0m ×2 + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896286 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896286 ms (missed cycles : 2).[0m ×2 + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939690 ms (missed cycles : 3). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939690 ms (missed cycles : 3).[0m ×2 + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143408 ms (missed cycles : 2). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143408 ms (missed cycles : 2).[0m ×2 + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 31.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959900 ms (missed cycles : 3). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959900 ms (missed cycles : 3).[0m ×2 + 31.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127713 ms (missed cycles : 4). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127713 ms (missed cycles : 4).[0m ×2 + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 33.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097179 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097179 ms (missed cycles : 2).[0m ×2 + 33.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 34.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763662 ms (missed cycles : 5). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763662 ms (missed cycles : 5).[0m ×2 + 35.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886707 ms (missed cycles : 3). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886707 ms (missed cycles : 3).[0m ×2 + 36.77sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336958 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336958 ms (missed cycles : 3).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676190 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676190 ms (missed cycles : 2).[0m ×2 + 38.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215424 ms (missed cycles : 2). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215424 ms (missed cycles : 2).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788006 ms (missed cycles : 3). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788006 ms (missed cycles : 3).[0m ×2 + 40.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653027 ms (missed cycles : 3). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653027 ms (missed cycles : 3).[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236358 ms (missed cycles : 4). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236358 ms (missed cycles : 4).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748232 ms (missed cycles : 2). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748232 ms (missed cycles : 2).[0m ×2 + 43.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776922 ms (missed cycles : 5). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776922 ms (missed cycles : 5).[0m ×2 + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537925 ms (missed cycles : 5). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537925 ms (missed cycles : 5).[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542956 ms (missed cycles : 3). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542956 ms (missed cycles : 3).[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525583 ms (missed cycles : 3). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525583 ms (missed cycles : 3).[0m ×2 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370453 ms (missed cycles : 3). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370453 ms (missed cycles : 3).[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933703 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933703 ms (missed cycles : 2).[0m ×2 + 50.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752782 ms (missed cycles : 2). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752782 ms (missed cycles : 2).[0m ×2 + 51.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626277 ms (missed cycles : 3). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626277 ms (missed cycles : 3).[0m ×2 + 52.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132360 ms (missed cycles : 2). + 52.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132360 ms (missed cycles : 2).[0m ×2 + 53.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827653 ms (missed cycles : 4). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827653 ms (missed cycles : 4).[0m ×2 + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095911 ms (missed cycles : 4). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095911 ms (missed cycles : 4).[0m ×2 + 55.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735195 ms (missed cycles : 2). + 55.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735195 ms (missed cycles : 2).[0m ×2 + 56.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955594 ms (missed cycles : 4). + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955594 ms (missed cycles : 4).[0m ×2 + 57.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162733 ms (missed cycles : 2). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162733 ms (missed cycles : 2).[0m ×2 + 58.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4). + 58.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4).[0m ×2 + 59.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2). + 59.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2).[0m ×2 + 60.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 60.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 61.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 62.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3).[0m ×2 + 62.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771962.10197234 seconds ×3 + 62.41sWARNlocal_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. + 62.41sWARNlocal_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. + 62.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.040ms + 62.97sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771962.71000886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3).[0m ×2 + 63.37sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 63.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 64.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2). + 64.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.5s	180 warnings · 172 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302706 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302706 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.11sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.11sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.11sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.11sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019591 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019591 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004569 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004569 ms (missed cycles : 2).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.863ms + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.559ms + 9.49sINFOros2_control_nodeMuJoCo sim: 11.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192325 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192325 ms (missed cycles : 3).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.456ms + 10.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.687ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262730 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262730 ms (missed cycles : 2).[0m ×2 + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 11.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.323ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868579 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868579 ms (missed cycles : 2).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.292ms + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.793ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484576 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484576 ms (missed cycles : 3).[0m ×2 + 12.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 13.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.805ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910688 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910688 ms (missed cycles : 2).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.095ms + 14.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.718ms + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324084 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324084 ms (missed cycles : 3).[0m ×2 + 14.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.884ms + 15.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.034ms + 15.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.728ms + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093623 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093623 ms (missed cycles : 3).[0m ×2 + 16.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.991ms + 16.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428985 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428985 ms (missed cycles : 3).[0m ×2 + 17.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.734ms + 17.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.297ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567439 ms (missed cycles : 4). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567439 ms (missed cycles : 4).[0m ×2 + 18.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.698ms + 18.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 19.47sINFOamclParticle filter update iteration stats: 4952 particles 723 points - 8.369ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496806 ms (missed cycles : 3). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496806 ms (missed cycles : 3).[0m ×2 + 19.97sINFOamclParticle filter update iteration stats: 4714 particles 723 points - 6.444ms + 20.47sINFOamclParticle filter update iteration stats: 4135 particles 723 points - 5.817ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278379 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278379 ms (missed cycles : 2).[0m ×2 + 20.97sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 4.752ms + 21.47sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 4.332ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993474 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993474 ms (missed cycles : 2).[0m ×2 + 21.97sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.569ms + 22.47sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.900ms + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076656 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076656 ms (missed cycles : 2).[0m ×2 + 22.97sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.518ms + 23.47sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.087ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630520 ms (missed cycles : 4). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630520 ms (missed cycles : 4).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.024ms + 24.47sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.901ms + 24.97sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.604ms + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544019 ms (missed cycles : 3). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544019 ms (missed cycles : 3).[0m ×2 + 25.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050270 ms (missed cycles : 5). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050270 ms (missed cycles : 5).[0m ×2 + 26.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673120 ms (missed cycles : 2). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673120 ms (missed cycles : 2).[0m ×2 + 27.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288415 ms (missed cycles : 2). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288415 ms (missed cycles : 2).[0m ×2 + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944132 ms (missed cycles : 3). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944132 ms (missed cycles : 3).[0m ×2 + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985590 ms (missed cycles : 3). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985590 ms (missed cycles : 3).[0m ×2 + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957115 ms (missed cycles : 3). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957115 ms (missed cycles : 3).[0m ×2 + 31.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474588 ms (missed cycles : 3). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474588 ms (missed cycles : 3).[0m ×2 + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 33.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427347 ms (missed cycles : 5). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427347 ms (missed cycles : 5).[0m ×2 + 34.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923873 ms (missed cycles : 4). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923873 ms (missed cycles : 4).[0m ×2 + 35.53sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976861 ms (missed cycles : 5). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976861 ms (missed cycles : 5).[0m ×2 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458008 ms (missed cycles : 4). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458008 ms (missed cycles : 4).[0m ×2 + 37.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060479 ms (missed cycles : 4). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060479 ms (missed cycles : 4).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963603 ms (missed cycles : 3). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963603 ms (missed cycles : 3).[0m ×2 + 39.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428550 ms (missed cycles : 3). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428550 ms (missed cycles : 3).[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058726 ms (missed cycles : 4). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058726 ms (missed cycles : 4).[0m ×2 + 42.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713747 ms (missed cycles : 2). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713747 ms (missed cycles : 2).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416875 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416875 ms (missed cycles : 2).[0m ×2 + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392091 ms (missed cycles : 5). + 44.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392091 ms (missed cycles : 5).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522876 ms (missed cycles : 3). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522876 ms (missed cycles : 3).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779244 ms (missed cycles : 3). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779244 ms (missed cycles : 3).[0m ×2 + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191460 ms (missed cycles : 2). + 47.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191460 ms (missed cycles : 2).[0m ×2 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276918 ms (missed cycles : 2). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276918 ms (missed cycles : 2).[0m ×2 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436962 ms (missed cycles : 4). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436962 ms (missed cycles : 4).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729404 ms (missed cycles : 4). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729404 ms (missed cycles : 4).[0m ×2 + 51.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554342 ms (missed cycles : 5). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.554342 ms (missed cycles : 5).[0m ×2 + 52.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 52.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097321 ms (missed cycles : 5). + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097321 ms (missed cycles : 5).[0m ×2 + 53.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394609 ms (missed cycles : 3). + 53.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394609 ms (missed cycles : 3).[0m ×2 + 55.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791336 ms (missed cycles : 3). + 55.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791336 ms (missed cycles : 3).[0m ×2 + 55.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 56.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581472 ms (missed cycles : 3). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581472 ms (missed cycles : 3).[0m ×2 + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296978 ms (missed cycles : 4). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296978 ms (missed cycles : 4).[0m ×2 + 58.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474718 ms (missed cycles : 5). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474718 ms (missed cycles : 5).[0m ×2 + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771536 ms (missed cycles : 2). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771536 ms (missed cycles : 2).[0m ×2 + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091920 ms (missed cycles : 4). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091920 ms (missed cycles : 4).[0m ×2 + 60.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 61.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787772204.40600801 seconds ×3 + 61.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259101 ms (missed cycles : 2). + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259101 ms (missed cycles : 2).[0m ×2 + 61.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.110ms + 61.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787772205.00788116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.15sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 62.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756996 ms (missed cycles : 2). + 62.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756996 ms (missed cycles : 2).[0m ×2 + 62.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804951 ms (missed cycles : 2). + 63.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804951 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.8s	180 warnings · 190 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.01sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787772001.54366374 seconds ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.15sWARNlocal_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. + 4.15sWARNlocal_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. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.801ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787772002.13226938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3).[0m ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684228 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684228 ms (missed cycles : 3).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278576 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278576 ms (missed cycles : 2).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.270ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.008ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512172 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512172 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.585ms + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.887ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474407 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474407 ms (missed cycles : 3).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.131ms + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.550ms + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114959 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114959 ms (missed cycles : 3).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.674ms + 12.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.537ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878677 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878677 ms (missed cycles : 2).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.549ms + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.149ms + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749708 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749708 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.655ms + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.208ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669604 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669604 ms (missed cycles : 3).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.241ms + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.175ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958028 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958028 ms (missed cycles : 2).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.416ms + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.855ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.503ms + 17.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042159 ms (missed cycles : 5). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042159 ms (missed cycles : 5).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 5.664ms + 18.80sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 4.169ms + 19.30sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.587ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014401 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014401 ms (missed cycles : 2).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.524ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.441ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828622 ms (missed cycles : 3). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828622 ms (missed cycles : 3).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.223497 ms (missed cycles : 6). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.223497 ms (missed cycles : 6).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872492 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872492 ms (missed cycles : 2).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780002 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780002 ms (missed cycles : 2).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674534 ms (missed cycles : 2). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674534 ms (missed cycles : 2).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081062 ms (missed cycles : 4). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081062 ms (missed cycles : 4).[0m ×2 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292175 ms (missed cycles : 2). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292175 ms (missed cycles : 2).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368275 ms (missed cycles : 3). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368275 ms (missed cycles : 3).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861912 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861912 ms (missed cycles : 2).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958715 ms (missed cycles : 4). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958715 ms (missed cycles : 4).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629473 ms (missed cycles : 4). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629473 ms (missed cycles : 4).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685920 ms (missed cycles : 4). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685920 ms (missed cycles : 4).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456590 ms (missed cycles : 4). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456590 ms (missed cycles : 4).[0m ×2 + 33.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290888 ms (missed cycles : 4). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290888 ms (missed cycles : 4).[0m ×2 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 35.21sINFOros2_control_nodeMuJoCo sim: 8.44% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993018 ms (missed cycles : 3). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993018 ms (missed cycles : 3).[0m ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780058 ms (missed cycles : 2). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780058 ms (missed cycles : 2).[0m ×2 + 37.10sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197508 ms (missed cycles : 2). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197508 ms (missed cycles : 2).[0m ×2 + 37.88sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764907 ms (missed cycles : 3). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764907 ms (missed cycles : 3).[0m ×2 + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599247 ms (missed cycles : 3). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599247 ms (missed cycles : 3).[0m ×2 + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060594 ms (missed cycles : 5). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060594 ms (missed cycles : 5).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660647 ms (missed cycles : 5). + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660647 ms (missed cycles : 5).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 42.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085976 ms (missed cycles : 3). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085976 ms (missed cycles : 3).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163006 ms (missed cycles : 5). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163006 ms (missed cycles : 5).[0m ×2 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249641 ms (missed cycles : 2). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249641 ms (missed cycles : 2).[0m ×2 + 46.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918430 ms (missed cycles : 3). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918430 ms (missed cycles : 3).[0m ×2 + 46.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019977 ms (missed cycles : 2). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019977 ms (missed cycles : 2).[0m ×2 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561850 ms (missed cycles : 2). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561850 ms (missed cycles : 2).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259428 ms (missed cycles : 4). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259428 ms (missed cycles : 4).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567227 ms (missed cycles : 3). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567227 ms (missed cycles : 3).[0m ×2 + 51.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466359 ms (missed cycles : 6). + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466359 ms (missed cycles : 6).[0m ×2 + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167562 ms (missed cycles : 4). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167562 ms (missed cycles : 4).[0m ×2 + 53.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380925 ms (missed cycles : 3). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380925 ms (missed cycles : 3).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 54.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029997 ms (missed cycles : 4). + 54.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029997 ms (missed cycles : 4).[0m ×2 + 54.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 55.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984463 ms (missed cycles : 3). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984463 ms (missed cycles : 3).[0m ×2 + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717275 ms (missed cycles : 4). + 56.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717275 ms (missed cycles : 4).[0m ×2 + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 57.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637899 ms (missed cycles : 3). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637899 ms (missed cycles : 3).[0m ×2 + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376717 ms (missed cycles : 4). + 58.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376717 ms (missed cycles : 4).[0m ×2 + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 58.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787772056.38241172 seconds ×3 + 58.95sWARNlocal_costmap.local_costmapSensor origin at (-1.91, 10.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.95sWARNlocal_costmap.local_costmapSensor origin at (-2.58, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.616ms + 59.05sWARNlocal_costmap.local_costmapSensor origin at (-1.23, 7.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.05sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 8.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.176ms + 59.47sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787772056.97661853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574183 ms (missed cycles : 2). + 59.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574183 ms (missed cycles : 2).[0m ×2 + 59.97sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 60.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919028 ms (missed cycles : 3). + 60.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919028 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	141 warnings · 267 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 1.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.63sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.63sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894100 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894100 ms (missed cycles : 3).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185281 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185281 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 2.280ms + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127548 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127548 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613423 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613423 ms (missed cycles : 2).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360421 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360421 ms (missed cycles : 3).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253220 ms (missed cycles : 3). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253220 ms (missed cycles : 3).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595893 ms (missed cycles : 3). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595893 ms (missed cycles : 3).[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440671 ms (missed cycles : 3). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440671 ms (missed cycles : 3).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858221 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858221 ms (missed cycles : 2).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603767 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603767 ms (missed cycles : 3).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664140 ms (missed cycles : 3). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664140 ms (missed cycles : 3).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151563 ms (missed cycles : 3). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151563 ms (missed cycles : 3).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071497 ms (missed cycles : 3). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071497 ms (missed cycles : 3).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175713 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175713 ms (missed cycles : 2).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279683 ms (missed cycles : 2). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279683 ms (missed cycles : 2).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368506 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368506 ms (missed cycles : 2).[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920168 ms (missed cycles : 3). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920168 ms (missed cycles : 3).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609155 ms (missed cycles : 3). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609155 ms (missed cycles : 3).[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821504 ms (missed cycles : 2). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821504 ms (missed cycles : 2).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510949 ms (missed cycles : 3). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510949 ms (missed cycles : 3).[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006753 ms (missed cycles : 2). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006753 ms (missed cycles : 2).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150532 ms (missed cycles : 2). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150532 ms (missed cycles : 2).[0m ×2 + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461326 ms (missed cycles : 3). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461326 ms (missed cycles : 3).[0m ×2 + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990956 ms (missed cycles : 3). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990956 ms (missed cycles : 3).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824018 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824018 ms (missed cycles : 3).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106832 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106832 ms (missed cycles : 2).[0m ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123788 ms (missed cycles : 3). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123788 ms (missed cycles : 3).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659213 ms (missed cycles : 3). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659213 ms (missed cycles : 3).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928825 ms (missed cycles : 2). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928825 ms (missed cycles : 2).[0m ×2 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592369 ms (missed cycles : 4). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592369 ms (missed cycles : 4).[0m ×2 + 38.90sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 1.857ms + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913601 ms (missed cycles : 2). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913601 ms (missed cycles : 2).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916057 ms (missed cycles : 2). + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916057 ms (missed cycles : 2).[0m ×2 + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961141 ms (missed cycles : 3). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961141 ms (missed cycles : 3).[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627023 ms (missed cycles : 3). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627023 ms (missed cycles : 3).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992509 ms (missed cycles : 3). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992509 ms (missed cycles : 3).[0m ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120894 ms (missed cycles : 2). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120894 ms (missed cycles : 2).[0m ×2 + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2).[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2).[0m ×2 + 47.78sINFOjoint_trajectory_controllerGoal reached, success! + 47.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771900.49913764 seconds ×3 + 47.81sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 47.81sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 47.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 47.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 47.83sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 47.83sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.657ms + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3).[0m ×2 + 48.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771901.08243799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3).[0m ×2 + 49.55sINFOobjective_server_nodeFound path in 0 iterations (3.3594e-05 s). ×2 + 49.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	32.0s	113 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060818 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920988 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920988 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174601 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174601 ms (missed cycles : 2).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.49sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.53sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787771968.56016088 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878228 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878228 ms (missed cycles : 3).[0m ×2 + 3.55sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.55sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.57sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.57sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.57sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787771970.15351701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277709 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277709 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983228 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983228 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736349 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736349 ms (missed cycles : 2).[0m ×2 + 6.68sINFOros2_control_nodeMuJoCo sim: 8.28% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.11sINFOjoint_trajectory_controllerReceived new action goal + 7.11sINFOjoint_trajectory_controllerAccepted new action goal + 7.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504205 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504205 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512713 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512713 ms (missed cycles : 3).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.955ms + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.852ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151091 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151091 ms (missed cycles : 4).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.336ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849819 ms (missed cycles : 4). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849819 ms (missed cycles : 4).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.917ms + 11.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.668ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125158 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125158 ms (missed cycles : 2).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.805ms + 12.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.323ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819711 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819711 ms (missed cycles : 2).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.009ms + 13.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924397 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924397 ms (missed cycles : 3).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.420ms + 14.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.951ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437757 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437757 ms (missed cycles : 3).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 4114 particles 723 points - 6.679ms + 15.48sINFOamclParticle filter update iteration stats: 3440 particles 723 points - 4.094ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862347 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862347 ms (missed cycles : 3).[0m ×2 + 15.98sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 3.572ms + 16.47sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.907ms + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865747 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865747 ms (missed cycles : 3).[0m ×2 + 16.97sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.916ms + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 17.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882586 ms (missed cycles : 2). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882586 ms (missed cycles : 2).[0m ×2 + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 18.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733372 ms (missed cycles : 5). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733372 ms (missed cycles : 5).[0m ×2 + 19.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 19.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124965 ms (missed cycles : 4). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124965 ms (missed cycles : 4).[0m ×2 + 20.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 20.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711286 ms (missed cycles : 3). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711286 ms (missed cycles : 3).[0m ×2 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862467 ms (missed cycles : 3). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862467 ms (missed cycles : 3).[0m ×2 + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803677 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803677 ms (missed cycles : 2).[0m ×2 + 23.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805780 ms (missed cycles : 2). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805780 ms (missed cycles : 2).[0m ×2 + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 24.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 25.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481671 ms (missed cycles : 4). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481671 ms (missed cycles : 4).[0m ×2 + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 26.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734123 ms (missed cycles : 5). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734123 ms (missed cycles : 5).[0m ×2 + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 27.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019166 ms (missed cycles : 4). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019166 ms (missed cycles : 4).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356077 ms (missed cycles : 2). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356077 ms (missed cycles : 2).[0m ×2 + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356351 ms (missed cycles : 4). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356351 ms (missed cycles : 4).[0m ×2 + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698394 ms (missed cycles : 2). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698394 ms (missed cycles : 2).[0m ×2 + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3).[0m ×2 + 31.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4).[0m ×2 + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 33.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3).[0m ×2 + 34.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 34.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3).[0m ×2 + 35.52sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787772001.54366374 seconds ×3 + 35.62sWARNlocal_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. + 35.62sWARNlocal_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. + 35.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.801ms + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3).[0m ×2 + 36.10sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787772002.13226938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.50sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3).[0m ×2 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	66 warnings · 186 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296978 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296978 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474718 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474718 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771536 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771536 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091920 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091920 ms (missed cycles : 4).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 4.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787772204.40600801 seconds ×3 + 4.12sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 4.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.12sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 4.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 4.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 4.14sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 4.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259101 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259101 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.110ms + 4.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787772205.00788116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756996 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756996 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804951 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804951 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392926 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392926 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475292 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475292 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747687 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747687 ms (missed cycles : 3).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479318 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479318 ms (missed cycles : 3).[0m ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 11.29sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 11.33sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.49sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 11.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826835 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826835 ms (missed cycles : 3).[0m ×2 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 12.23sINFOobjective_server_nodeFound path in 33 iterations (0.0349998 s). ×2 + 12.42sINFOros2_control_nodeMuJoCo sim: 12.63% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 12.81sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943435 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943435 ms (missed cycles : 3).[0m ×2 + 13.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 13.52sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362390 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362390 ms (missed cycles : 3).[0m ×2 + 14.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 14.44sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210262 ms (missed cycles : 4). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210262 ms (missed cycles : 4).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.383ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509101 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509101 ms (missed cycles : 3).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951439 ms (missed cycles : 4). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951439 ms (missed cycles : 4).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.697ms + 17.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.220ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2).[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3).[0m ×2 + 20.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787772220.74626970 seconds ×3 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4).[0m ×2 + 20.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.007ms + 20.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 21.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787772221.38271403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 21.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 21.09sINFOmove_groupClearing octomap...[0m ×2 + 21.09sINFOmove_groupOctomap cleared.[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3).[0m ×2 + 21.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787772222.00284624 seconds ×3 + 22.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787772222.58707929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3).[0m ×2 + 23.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787772223.32722735 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	94 errors · 33 warnings · 431 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.220ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787772220.74626970 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.007ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787772221.38271403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.38sINFOmove_groupClearing octomap...[0m ×2 + 3.38sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787772222.00284624 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787772222.58707929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787772223.32722735 seconds ×3 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772352 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772352 ms (missed cycles : 2).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233013 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233013 ms (missed cycles : 2).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005931 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005931 ms (missed cycles : 3).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517772 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517772 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759300 ms (missed cycles : 3).[0m ×2 + 11.25sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918276 ms (missed cycles : 2). + 11.35sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORweb_video_auth_proxy-35process has died [pid 9864, 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 + 11.35sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.39sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORweb_bridge_auth_proxy-34process has died [pid 9847, 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 + 11.39sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.45sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.48sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.50sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.52sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.55sINFOvideo_server-33process has finished cleanly [pid 9846] ×2 + 11.55sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.59sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918276 ms (missed cycles : 2).[0m ×2 + 11.63sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.66sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.69sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.72sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.74sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9845] ×2 + 11.75sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.78sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.79sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.81sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.81sINFOcontroller_managerShutdown request received.... + 11.81sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.81sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.81sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.81sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.81sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.81sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.81sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.81sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.81sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.81sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.81sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.81sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.81sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.81sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.81sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.81sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.81sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.81sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.81sINFOcontroller_managerShutting down the controller manager. + 11.83sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.84sERRORmove_group-21process has died [pid 9832, 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_gbvcxm20 --params-file /tmp/launch_params_cx8m2j5q --params-file /tmp/launch_params_fjspqgyk --params-file /tmp/launch_params_42hgqpzo --params-file /tmp/launch_params_s6wlipl6 --params-file /tmp/launch_params_8uhgh4io']. ×2 + 11.85sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.86sINFOui_teleop_bridge-30process has finished cleanly [pid 9843] ×2 + 11.86sINFOcomponent_container_mt-28process has finished cleanly [pid 9841] ×2 + 11.87sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787772229.578 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.88sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.90sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.90sINFOexecute_objective_bridge-29process has finished cleanly [pid 9842] ×2 + 11.92sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.94sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.96sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.96sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.96sINFOmap_serverDeactivating + 11.96sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.97sINFOmap_serverCleaning up + 11.97sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.97sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.99sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.99sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.99sINFOcontroller_serverDeactivating + 11.99sINFOlocal_costmap.local_costmapDeactivating + 11.99sINFOvideo_server2026/08/26 19:23:49 INF shutting down gracefully ×2 + 11.99sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.99sINFOvideo_server2026/08/26 19:23:49 INF [WebRTC] closing ×2 + 11.99sINFOvideo_server2026/08/26 19:23:49 INF [RTSP] closing ×2 + 11.99sINFOvideo_server2026/08/26 19:23:49 INF waiting for running hooks ×2 + 11.99sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.99sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.99sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.99sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.99sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.00sERRORamclThe bond connection to the lifecycle manager has been broken + 12.00sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.00sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.00sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.00sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.00sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.00sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.00sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.00sERRORmove_groupStack trace (most recent call last) in thread 10449: ×2 + 12.00sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.00sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f9a061a63, in __clone ×2 + 12.00sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f99fd4aa3, in ×2 + 12.00sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f9a266db3, in ×2 + 12.00sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f6f9a9d7a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.00sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f9a5f8620, in rclcpp::Rate::sleep() ×2 + 12.00sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f9a53ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.00sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6f9a4fc087, in ×2 + 12.00sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f9a235390, in __cxa_throw ×2 + 12.00sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f9a21fa54, in std::terminate() ×2 + 12.00sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f9a2350d9, in ×2 + 12.00sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6f9a21fff4, in ×2 + 12.00sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f99f608fe, in abort ×2 + 12.00sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f99f7d27d, in raise ×2 + 12.00sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6f99fd6b2c, in pthread_kill ×2 + 12.00sERRORmove_groupAborted (Signal sent by tkill() 9832 0) ×2 + 12.00sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.01sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.01sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.01sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.01sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.01sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.01sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.01sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.01sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.01sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.01sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.01sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.01sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.01sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.01sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.01sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.01sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.01sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.01sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.01sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.01sINFOodom_qos_relay.pymain() ×2 + 12.01sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.01sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.01sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.01sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.01sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.02sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.02sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.02sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.02sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.02sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.02sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.02sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.02sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.03sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.04sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.05sINFOcontroller_serverCleaning up + 12.05sINFOlocal_costmap.local_costmapCleaning up + 12.10sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.10sINFOsmoother_serverDeactivating + 12.10sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.10sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.10sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.10sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.10sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.10sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.10sINFOvelocity_smootherDeactivating + 12.10sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.11sINFOsmoother_serverCleaning up + 12.12sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.12sINFOplanner_serverDeactivating + 12.12sINFOglobal_costmap.global_costmapDeactivating + 12.21sERRORcomponent_container_isolated-2process has died [pid 9718, 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_89vfnbot --params-file /tmp/launch_params_miho1108 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.21sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.21sINFOwaypoint_followerDeactivating + 12.21sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.33sINFObt_navigatorDeactivating + 12.33sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.44sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.44sINFObehavior_serverDeactivating + 12.44sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.55sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.55sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.55sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 12.55sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.55sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.55sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.55sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.56sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.56sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.56sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.56sINFOvelocity_smootherCleaning up + 12.56sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.56sINFOwaypoint_followerCleaning up + 12.59sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.59sINFObt_navigatorCleaning up + 12.71sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9838] ×2 + 12.75sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9837] ×2 + 12.77sINFObt_navigatorCompleted Cleaning up + 12.77sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.77sINFObehavior_serverCleaning up + 12.81sINFOparameter_manager_node-22process has finished cleanly [pid 9833] ×2 + 12.81sINFOwaypoint_manager_node-23process has finished cleanly [pid 9834] ×2 + 12.81sINFOcomponent_container_mt-27process has finished cleanly [pid 9840] ×2 + 12.81sINFOobjective_server_node[2026-08-26 19:23:50.822] [moveit_pro_license] [critical] ×2 + 12.81sINFOobjective_server_node************************************************* ×4 + 12.81sINFOobjective_server_node* MoveIt Pro License ×2 + 12.81sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.83sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.83sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.83sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.83sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.83sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.83sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.83sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.86sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.86sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.87sINFOplanner_serverCleaning up + 12.88sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9724] ×2 + 12.88sINFOobjective_server_node_main-26process has finished cleanly [pid 9839] ×2 + 12.89sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.89sINFOglobal_costmap.global_costmapCleaning up + 12.89sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.90sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.90sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9723] ×2 + 12.93sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.93sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.93sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.93sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.93sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.96sINFOstatic_transform_publisher-4process has finished cleanly [pid 9720] ×2 + 12.98sINFOstatic_transform_publisher-3process has finished cleanly [pid 9719] ×2 + 13.00sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9722] ×2 + 13.01sERRORodom_qos_relay.py-5process has died [pid 9721, 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 + 13.26sERRORcomponent_container_isolated-1process has died [pid 9717, 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_89vfnbot --params-file /tmp/launch_params_3b7u2kqo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.52sINFOweb_bridge-31process has finished cleanly [pid 9844] ×2 + 14.52sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.55sINFOros2_control_node-9process has finished cleanly [pid 9725] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 57 warnings · 115 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984463 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984463 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717275 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717275 ms (missed cycles : 4).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637899 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637899 ms (missed cycles : 3).[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376717 ms (missed cycles : 4). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376717 ms (missed cycles : 4).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 4.18sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787772056.38241172 seconds ×3 + 4.19sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-1.91, 10.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-2.58, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.616ms + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-1.23, 7.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 8.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.176ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787772056.97661853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574183 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574183 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919028 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919028 ms (missed cycles : 3).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832693 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832693 ms (missed cycles : 3).[0m ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.63sINFOjoint_trajectory_controllerReceived new action goal + 7.63sINFOjoint_trajectory_controllerAccepted new action goal + 7.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498894 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498894 ms (missed cycles : 3).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595025 ms (missed cycles : 3). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595025 ms (missed cycles : 3).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.796ms + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.689ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478893 ms (missed cycles : 3). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478893 ms (missed cycles : 3).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.250ms + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.883ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176619 ms (missed cycles : 4). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176619 ms (missed cycles : 4).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.112ms + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.151ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694331 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694331 ms (missed cycles : 2).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.732ms + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981701 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981701 ms (missed cycles : 2).[0m ×2 + 13.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.686ms + 14.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.388ms + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663768 ms (missed cycles : 4). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663768 ms (missed cycles : 4).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.515ms + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.682ms + 15.16sINFOobjective_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 + 15.17sINFOjoint_trajectory_controllerGot request to cancel goal + 15.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.18sERRORobjective_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: 1787772067.37978935 seconds ×3 + 15.25sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.25sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876739 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876739 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.533ms + 15.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787772067.96713567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.15sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257575 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257575 ms (missed cycles : 3).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133463 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133463 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.5s	44 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.48sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771962.10197234 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.56sWARNlocal_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. + 3.56sWARNlocal_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. + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.040ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771962.71000886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910199 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910199 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060818 ms (missed cycles : 5). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060818 ms (missed cycles : 5).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920988 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920988 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174601 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174601 ms (missed cycles : 2).[0m ×2 + 9.97sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787771968.56016088 seconds ×3 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878228 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878228 ms (missed cycles : 3).[0m ×2 + 11.56sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787771970.15351701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277709 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277709 ms (missed cycles : 3).[0m ×2 + 12.00sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983228 ms (missed cycles : 3). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983228 ms (missed cycles : 3).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736349 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736349 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	38 warnings · 94 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484070 ms (missed cycles : 4). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484070 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644221 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644221 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684491 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684491 ms (missed cycles : 2).[0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540289 ms (missed cycles : 2). + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540289 ms (missed cycles : 2).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787772140.53731036 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×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 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 14.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.971ms + 4.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787772141.12639070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137442 ms (missed cycles : 5). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137442 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391272 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391272 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 10.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 11.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	27 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120894 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120894 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771900.49913764 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.34sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.657ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771901.08243799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.3594e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787771903.98256421 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257286 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257286 ms (missed cycles : 2).[0m ×2 + 7.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787771904.57183790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826176 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826176 ms (missed cycles : 2).[0m ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136304 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136304 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	21 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951439 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951439 ms (missed cycles : 4).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.697ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.220ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787772220.74626970 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.87sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.007ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787772221.38271403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.48sINFOmove_groupOctomap cleared.[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787772222.00284624 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787772222.58707929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787772223.32722735 seconds ×3 + 6.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772352 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772352 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 1.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 1.63sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 1.63sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.18sINFOmove_groupClearing octomap...[0m ×2 + 2.18sINFOmove_groupOctomap cleared.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894100 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894100 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 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_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 5.530206 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771962.10197234 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNlocal_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. + 3.56sWARNlocal_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. + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.040ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771962.71000886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771962.10197234 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNlocal_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. + 3.56sWARNlocal_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. + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.040ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771962.71000886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436254 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578479 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125362 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579625 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787772146.93653107 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511561 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787772147.53586698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126992 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951439 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951439 ms (missed cycles : 4).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.697ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.220ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743642 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826783 ms (missed cycles : 3).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787772220.74626970 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.87sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308495 ms (missed cycles : 4).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.007ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787772221.38271403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.48sINFOmove_groupOctomap cleared.[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373656 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787772222.00284624 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787772222.58707929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162434 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787772223.32722735 seconds ×3
− 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 3.120894 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120894 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771900.49913764 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.657ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771901.08243799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.3594e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3).[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 3.120894 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120894 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194111 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771900.49913764 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.657ms + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771901.08243799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.3594e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501145 ms (missed cycles : 2).[0m ×2 + 0.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787771900.49913764 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.80sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 0.80sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 0.96sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.657ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438644 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787771901.08243799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937132 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeFound path in 0 iterations (3.3594e-05 s). ×2 + 2.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.54sINFOjoint_trajectory_controllerReceived new action goal + 2.54sINFOjoint_trajectory_controllerAccepted new action goal + 2.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469344 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787771903.98256421 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257286 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257286 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787771904.57183790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826176 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826176 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136304 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136304 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 5.530206 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771962.10197234 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNlocal_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. + 3.56sWARNlocal_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. + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.040ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771962.71000886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 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 5.530206 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771962.10197234 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNlocal_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. + 3.56sWARNlocal_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. + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.040ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771962.71000886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 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 5.530206 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530206 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050583 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048747 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787771962.10197234 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.56sWARNlocal_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. + 3.56sWARNlocal_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. + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.040ms + 4.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787771962.71000886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177154 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851570 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	23 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787772001.54366374 seconds ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.15sWARNlocal_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. + 4.15sWARNlocal_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. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.801ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787772002.13226938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	23 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787772001.54366374 seconds ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.15sWARNlocal_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. + 4.15sWARNlocal_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. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.801ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787772002.13226938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 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
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364270 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352082 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840489 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303786 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787772001.54366374 seconds ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.15sWARNlocal_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. + 4.15sWARNlocal_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. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.801ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330643 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787772002.13226938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348497 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766589 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434692 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.27sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.29sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.30sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 3.30sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 3.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− 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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894100 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894100 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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− 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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_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 3.778757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778757 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419260 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988684 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 2.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771854.87912321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771854.88932157 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774540 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771855.48404741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771855.49416351 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771856.07833600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771856.22917700 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800334 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771856.85443640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771856.91457343 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609419 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787771857.49944997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_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 2.890401 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890401 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2