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	32.3s	12 errors · 309 warnings · 1405 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-25-23-45-01-556822-adc19c284b1d-9194 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.80sINFOstatic_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' + 13.80sINFOstatic_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' + 13.89sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.91sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.92sINFOcontroller_managerupdate rate is 600 Hz + 13.92sINFOcontroller_managerOverruns handling is : enabled + 13.92sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.92sWARNcontroller_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. + 14.01sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.03sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.03sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.05sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028767 ms (missed cycles : 2). + 14.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.09sINFOcontroller_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. + 14.10sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.10sINFOros2_control_node-9process started with pid [9252] ×2 + 14.11sINFOmove_group-21process started with pid [9341] ×2 + 14.11sINFOparameter_manager_node-22process started with pid [9342] ×2 + 14.11sINFOwaypoint_manager_node-23process started with pid [9343] ×2 + 14.11sINFOmove_joint_resampler_node-24process started with pid [9362] ×2 + 14.11sINFOmove_end_effector_resampler_node-25process started with pid [9363] ×2 + 14.11sINFOobjective_server_node_main-26process started with pid [9364] ×2 + 14.11sINFOcomponent_container_mt-27process started with pid [9365] ×2 + 14.11sINFOcomponent_container_mt-28process started with pid [9366] ×2 + 14.12sINFOexecute_objective_bridge-29process started with pid [9367] ×2 + 14.12sINFOui_teleop_bridge-30process started with pid [9368] ×2 + 14.12sINFOweb_bridge-31process started with pid [9369] ×2 + 14.12sINFOtf2_web_republisher_node-32process started with pid [9370] ×2 + 14.12sINFOvideo_server-33process started with pid [9371] ×2 + 14.12sINFOweb_bridge_auth_proxy-34process started with pid [9374] ×2 + 14.12sINFOweb_video_auth_proxy-35process started with pid [9376] ×2 + 14.14sINFOcomponent_container_isolated-1process started with pid [9244] ×2 + 14.14sINFOcomponent_container_isolated-2process started with pid [9245] ×2 + 14.14sINFOstatic_transform_publisher-3process started with pid [9246] ×2 + 14.14sINFOstatic_transform_publisher-4process started with pid [9247] ×2 + 14.15sINFOodom_qos_relay.py-5process started with pid [9248] ×2 + 14.15sINFOforward_stereo_publisher.py-6process started with pid [9249] ×2 + 14.15sINFOscan_to_scan_filter_chain-7process started with pid [9250] ×2 + 14.15sINFOscan_to_scan_filter_chain-8process started with pid [9251] ×2 + 14.15sINFOros2-10process started with pid [9330] ×2 + 14.15sINFOros2-11process started with pid [9331] ×2 + 14.15sINFOros2-12process started with pid [9332] ×2 + 14.15sINFOros2-13process started with pid [9333] ×2 + 14.15sINFOros2-14process started with pid [9334] ×2 + 14.15sINFOros2-15process started with pid [9335] ×2 + 14.15sINFOros2-16process started with pid [9336] ×2 + 14.15sINFOros2-17process started with pid [9337] ×2 + 14.16sINFOros2-18process started with pid [9338] ×2 + 14.16sINFOros2-19process started with pid [9339] ×2 + 14.16sINFOros2-20process started with pid [9340] ×2 + 14.17sINFOcontroller_serverCreating controller server + 14.17sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.19sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.19sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.19sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.22sINFOlocal_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. + 14.22sINFOmap_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. + 14.22sINFOmap_serverCreating + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.23sINFOlocal_costmap.local_costmapCreating Costmap + 14.23sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.24sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.25sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.25sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.29sINFOsmoother_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. + 14.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.30sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.30sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.30sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.30sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.30sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.30sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.30sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.30sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.30sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.30sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.30sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.30sWARNros2_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 + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028767 ms (missed cycles : 2).[0m ×2 + 14.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.32sINFOsmoother_serverCreating smoother server + 14.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.33sINFOlifecycle_manager_localizationCreating + 14.33sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.35sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.36sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.36sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.36sINFOmap_serverConfiguring + 14.36sINFOrobot_state_publisherRobot initialized + 14.37sINFOcontroller_managerReceived robot description from topic. + 14.37sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.38sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.38sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.38sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.40sINFOplanner_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. + 14.40sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.42sINFOplanner_serverCreating + 14.46sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.46sINFOglobal_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. + 14.47sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.48sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.48sINFOglobal_costmap.global_costmapCreating Costmap + 14.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.50sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.50sINFOamclConfiguring + 14.50sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.50sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.50sINFOmap_serverActivating + 14.50sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.55sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.57sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.62sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.62sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.62sINFOamclActivating + 14.62sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.62sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.63sINFOamclSubscribed to map_topic: /map + 14.63sINFOamclSubscribed to scan_topic: /scan_merged + 14.64sINFOamclCreated reinitialize_global_localization service + 14.64sINFObt_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. + 14.64sINFOamclCreated request_nomotion_update service + 14.65sINFOamclA new map was received + 14.65sINFOamclInitializing particle filter instance + 14.67sINFObt_navigatorCreating + 14.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.69sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.295436 seconds + 14.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.70sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.70sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.71sINFOmove_groupLoaded robot model in 0.295436 seconds[0m ×2 + 14.71sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.71sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.73sINFOwaypoint_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. + 14.73sINFOwaypoint_followerCreating + 14.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.81sWARNlaser_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. + 14.81sWARNlaser_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. + 14.81sWARNscan_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 + 14.81sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.82sINFOvideo_server2026/08/25 23:45:19 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.82sINFOvideo_server2026/08/25 23:45:19 INF configuration loaded from /tmp/moveit-webrtc-tze13ref/mediamtx.yml ×2 + 14.82sINFOvideo_server2026/08/25 23:45:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.82sINFOvideo_server2026/08/25 23:45:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.88sINFOlifecycle_manager_navigationCreating + 14.92sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.96sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.96sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.96sINFOcontroller_serverConfiguring controller interface + 14.96sINFOcontroller_servergetting progress checker plugins.. + 14.96sINFOcontroller_servergetting goal checker plugins.. + 14.96sINFOcontroller_serverController frequency set to 20.0000Hz + 14.96sINFOlocal_costmap.local_costmapConfiguring + 14.97sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.99sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.01sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.01sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.01sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.05sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.06sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.06sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.08sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.13sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.15sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.15sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.16sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.16sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.19sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.19sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.20sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.20sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.22sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.23sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.23sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.808287 ms (missed cycles : 6). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.808287 ms (missed cycles : 6).[0m ×2 + 15.25sINFOcontroller_serverOptimizer reset ×2 + 15.26sINFOcontroller_serverController Server has FollowPath controllers available. + 15.29sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.29sINFOsmoother_serverConfiguring smoother server + 15.32sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.32sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.34sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.34sINFOplanner_serverConfiguring + 15.34sINFOglobal_costmap.global_costmapConfiguring + 15.34sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.34sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.36sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.36sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.37sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.42sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.42sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.44sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.47sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.47sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.47sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.48sINFOplanner_serverPlanner Server has GridBased planners available. + 15.50sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.50sINFObehavior_serverConfiguring + 15.52sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.52sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.54sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.54sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.56sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.57sINFObehavior_serverConfiguring spin + 15.59sINFObehavior_serverConfiguring backup + 15.60sINFObehavior_serverConfiguring drive_on_heading + 15.62sINFObehavior_serverConfiguring assisted_teleop + 15.63sINFObehavior_serverConfiguring wait + 15.65sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.65sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.65sINFObt_navigatorConfiguring + 15.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.65sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.66sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.67sWARNmove_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. + 15.67sWARNmove_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. + 15.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.68sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.68sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.68sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.68sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.68sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.68sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.69sWARNmove_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 + 15.69sWARNmove_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 + 15.69sWARNmove_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 + 15.70sWARNbt_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 + 15.88sINFOamclParticle filter initialization completed + 15.88sINFOamclInitializing particles from estimated pose and covariance + 15.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.88sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.89sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.89sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.89sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.93sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.98sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.98sINFOwaypoint_followerConfiguring + 16.01sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.02sINFOwaypoint_manager_nodeLoaded robot model in 0.483953 seconds[0m ×2 + 16.02sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.02sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.03sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.03sINFOvelocity_smootherConfiguring velocity smoother + 16.04sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.04sINFOcontroller_serverActivating + 16.04sINFOlocal_costmap.local_costmapActivating + 16.04sINFOlocal_costmap.local_costmapChecking transform + 16.04sINFOlocal_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. ×8 + 16.15sINFOmove_group[2026-08-25 23:45:21.090] [moveit_pro_license] [info] ×2 + 16.15sINFOmove_group************************************************* ×4 + 16.15sINFOmove_group* MoveIt Pro License ×2 + 16.15sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781266 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781266 ms (missed cycles : 2).[0m ×2 + 16.49sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.50sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.51sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.51sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.58sINFOros2_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 + 16.58sINFOros2_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 + 16.64sWARNwaypoint_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. + 16.64sWARNwaypoint_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. + 16.64sWARNwaypoint_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. + 16.64sWARNwaypoint_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. + 16.64sWARNwaypoint_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 + 16.64sWARNwaypoint_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. + 16.64sWARNwaypoint_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. + 16.64sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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 + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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 + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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 + 16.65sWARNwaypoint_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 + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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 + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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 + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.65sWARNwaypoint_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. + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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. + 16.66sWARNwaypoint_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 + 16.66sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_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 + 16.67sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.69sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.69sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.69sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.69sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.69sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.70sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.70sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.70sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.70sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.70sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.70sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.70sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.71sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.71sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.71sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.71sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.71sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.71sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.72sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.76sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.99sINFOwaypoint_manager_node[2026-08-25 23:45:21.931] [moveit_pro_license] [info] ×2 + 16.99sINFOwaypoint_manager_node************************************************* ×4 + 16.99sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.99sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.39sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.39sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.40sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.66sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.66sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.66sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.67sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.67sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 17.67sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.67sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.67sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.67sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.67sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.67sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.67sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.67sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.67sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.67sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.67sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.67sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.67sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.67sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.67sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.67sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.67sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.67sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.67sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.67sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.67sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.67sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.67sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459656 ms (missed cycles : 4). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459656 ms (missed cycles : 4).[0m ×2 + 17.70sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.70sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.70sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.76sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.76sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 17.76sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.76sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 17.77sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 17.77sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 17.80sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 17.80sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 17.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 17.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 17.81sINFOplatform_velocity_controllerconfigure successful + 17.81sINFOros2_control_nodeconfigure successful[0m ×6 + 17.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 17.81sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 17.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.82sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 17.82sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 17.83sINFOobjective_server_node[2026-08-25 23:45:22.767] [moveit_pro_license] [info] ×2 + 17.83sINFOobjective_server_node************************************************* ×4 + 17.83sINFOobjective_server_node* MoveIt Pro License ×2 + 17.83sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.90sINFOobjective_server_nodeLoaded robot model in 0.0288267 seconds[0m ×2 + 17.90sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.90sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.94sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 17.94sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 17.94sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.99sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.08sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.08sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.12sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.12sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.12sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.12sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.12sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.12sINFOstreaming_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) + 18.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.12sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.12sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.12sINFOcomponent_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 + 18.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.18sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 18.18sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 18.18sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 18.18sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 18.18sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 18.18sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 18.18sINFOros2-13process has finished cleanly [pid 9333] ×2 + 18.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.24sWARNcomponent_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 + 18.25sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 18.25sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 18.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 18.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 18.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 18.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 18.28sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 18.28sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.33sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.33sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.33sWARNobjective_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. + 18.33sWARNobjective_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. + 18.33sWARNobjective_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 + 18.33sWARNobjective_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 + 18.33sWARNobjective_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. + 18.33sWARNobjective_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. + 18.33sWARNobjective_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 + 18.33sWARNobjective_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. + 18.33sWARNobjective_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 + 18.33sWARNobjective_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. + 18.33sWARNobjective_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 + 18.34sWARNobjective_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 + 18.34sWARNobjective_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. + 18.34sWARNobjective_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. + 18.34sWARNobjective_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 + 18.34sWARNobjective_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 + 18.34sWARNobjective_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. + 18.34sWARNobjective_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. + 18.34sWARNobjective_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 + 18.34sWARNobjective_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 + 18.42sINFOobjective_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 + 18.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.44sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.44sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.48sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.51sINFOstreaming_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) + 18.52sINFOcomponent_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 + 18.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.61sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.61sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.61sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.62sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.63sINFOcomponent_container_mtLoaded robot model in 0.387018 seconds[0m ×2 + 18.63sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.63sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.63sINFOros2-11process has finished cleanly [pid 9331] ×2 + 18.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.77sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 18.77sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 18.79sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.79sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.87sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.87sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.87sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.87sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.91sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787701522.729 for reason 'discarding message because the queue is full' + 18.92sINFOmove_groupMoveGroup debug mode is ON + 18.92sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.92sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.01sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 19.03sWARNplanning_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. + 19.03sWARNcomponent_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 + 19.03sWARNplanning_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. + 19.03sWARNplanning_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. + 19.03sWARNplanning_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. + 19.03sWARNplanning_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. + 19.03sWARNplanning_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. + 19.03sWARNcomponent_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 + 19.03sWARNplanning_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. + 19.03sWARNplanning_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. + 19.03sWARNplanning_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. + 19.03sWARNplanning_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. + 19.04sWARNplanning_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. + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNplanning_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. + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNplanning_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. + 19.04sWARNplanning_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. + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNplanning_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. + 19.04sWARNplanning_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. + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNcomponent_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 + 19.04sWARNplanning_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. + 19.04sWARNplanning_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. + 19.05sWARNcomponent_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 + 19.05sWARNplanning_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. + 19.05sWARNplanning_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. + 19.05sWARNcomponent_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 + 19.05sWARNplanning_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. + 19.05sWARNplanning_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. + 19.05sWARNplanning_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. + 19.05sWARNcomponent_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 + 19.05sWARNplanning_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. + 19.05sWARNcomponent_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 + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035153 ms (missed cycles : 2). + 19.05sWARNcomponent_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 + 19.05sWARNcomponent_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 + 19.05sWARNplanning_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. + 19.05sWARNplanning_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. + 19.05sWARNcomponent_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 + 19.05sWARNcomponent_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 + 19.05sWARNplanning_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. + 19.05sWARNplanning_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. + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035153 ms (missed cycles : 2).[0m ×2 + 19.06sWARNcomponent_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 + 19.06sWARNcomponent_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 + 19.06sWARNcomponent_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 + 19.06sWARNcomponent_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 + 19.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.14sINFOmove_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 ****************************************************** + 19.14sINFOmove_group ×8 + 19.14sINFOmove_group****************************************************** ×4 + 19.15sINFOmove_group* MoveGroup using: ×2 + 19.15sINFOmove_group* - apply_planning_scene_service ×2 + 19.15sINFOmove_group* - clear_octomap_service ×2 + 19.15sINFOmove_group* - get_group_urdf ×2 + 19.15sINFOmove_group* - load_geometry_from_file ×2 + 19.15sINFOmove_group* - get_planning_scene_service ×2 + 19.15sINFOmove_group* - kinematics_service ×2 + 19.15sINFOmove_group* - save_geometry_to_file ×2 + 19.15sINFOmove_group* - GetPlanningGroups ×2 + 19.15sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.15sINFOmove_group[0m ×2 + 19.15sINFOmove_group[92mYou can start planning now![0m ×2 + 19.27sINFOcomponent_container_mt[2026-08-25 23:45:24.206] [moveit_pro_license] [info] ×2 + 19.27sINFOcomponent_container_mt************************************************* ×4 + 19.27sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.27sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.28sINFOros2_control_node[2026-08-25 23:45:24.221] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.29sINFOros2_control_node[2026-08-25 23:45:24.224] [info] Controller state will be published at 10 Hz. ×2 + 19.29sINFOros2_control_node[2026-08-25 23:45:24.225] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.47sWARNros2_control_nodeCamera render tick took 0.65 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 + 19.62sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.63sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.64sINFOros2-18process has finished cleanly [pid 9338] ×2 + 19.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 19.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 19.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.91sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 3.357ms + 20.04sINFOlocal_costmap.local_costmapstart + 20.08sINFOros2-12process has finished cleanly [pid 9332] ×2 + 20.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 20.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 20.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.15sWARNcontroller_serverParameter controller_server.verbose not found + 20.15sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 20.15sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321340 ms (missed cycles : 3). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321340 ms (missed cycles : 3).[0m ×2 + 20.25sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 20.25sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 20.25sINFOsmoother_serverActivating + 20.25sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 20.36sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 20.36sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 20.36sINFOplanner_serverActivating + 20.36sINFOglobal_costmap.global_costmapActivating + 20.36sINFOglobal_costmap.global_costmapChecking transform + 20.36sINFOglobal_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 1787701525.255448 but the earliest data is at time 1787701525.729301, when looking up transform from frame [ridgeback_base_link] to frame [map] + 20.53sINFOros2_control_node[2026-08-25 23:45:25.466] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.53sINFOros2_control_node[2026-08-25 23:45:25.467] [info] Controller state will be published at 10 Hz. ×2 + 20.53sINFOros2_control_node[2026-08-25 23:45:25.468] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.86sINFOglobal_costmap.global_costmapstart + 20.88sINFOros2-17process has finished cleanly [pid 9337] ×2 + 20.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.91sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.91sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.91sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.91sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 20.91sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.91sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 20.91sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.91sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.97sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.98sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.98sINFOplatform_velocity_controller_nav2configure successful + 21.02sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 21.02sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 21.02sINFObehavior_serverActivating + 21.02sINFObehavior_serverActivating spin + 21.02sINFObehavior_serverActivating backup + 21.02sINFObehavior_serverActivating drive_on_heading + 21.02sINFObehavior_serverActivating assisted_teleop + 21.02sINFObehavior_serverActivating wait + 21.02sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 21.12sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 21.12sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 21.12sINFObt_navigatorActivating + 21.18sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749207 ms (missed cycles : 2). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749207 ms (missed cycles : 2).[0m ×2 + 21.28sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.28sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.28sINFOwaypoint_followerActivating + 21.28sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.39sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.39sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.39sINFOvelocity_smootherActivating + 21.39sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 21.40sINFOros2-15process has finished cleanly [pid 9335] ×2 + 21.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 21.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 21.50sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 21.50sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 21.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 21.50sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 21.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 21.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 21.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 21.91sINFOros2_control_node[2026-08-25 23:45:26.852] [info] Controller state will be published at 20 Hz. ×2 + 21.91sINFOros2_control_node[2026-08-25 23:45:26.853] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942195 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942195 ms (missed cycles : 3).[0m ×2 + 22.27sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 22.27sINFOcontroller_managerLoading controller 'vacuum_gripper' + 22.27sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 22.27sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 22.27sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 22.27sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 22.27sINFOros2-19process has finished cleanly [pid 9339] ×2 + 22.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 22.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 22.33sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 22.33sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 22.33sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 22.33sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 22.33sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 22.33sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 22.33sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 22.33sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 22.34sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 22.34sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 22.67sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.67sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.67sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 22.67sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.67sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.68sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 22.70sINFOros2-14process has finished cleanly [pid 9334] ×2 + 22.73sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.73sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.73sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.73sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 23.10sINFOros2_control_node[2026-08-25 23:45:28.042] [info] Controller state will be published at 20 Hz. ×2 + 23.10sINFOros2_control_node[2026-08-25 23:45:28.043] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222808 ms (missed cycles : 4). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222808 ms (missed cycles : 4).[0m ×2 + 23.48sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 23.48sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 23.48sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 23.48sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 23.48sINFOros2-20process has finished cleanly [pid 9340] ×2 + 23.48sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 23.48sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 23.54sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 23.54sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.54sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 23.54sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 23.55sINFOforce_torque_sensor_broadcasterconfigure successful + 23.55sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 23.55sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 23.55sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 23.55sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.91sINFOros2-10process has finished cleanly [pid 9330] ×2 + 23.93sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 23.93sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 23.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 23.93sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 23.93sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 + 23.93sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ec1n41hs --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_y0h30eie --params-file /tmp/launch_params_bwz90d43 [0m ×2 + 24.04sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 24.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 24.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 24.04sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 24.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 24.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 24.04sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 24.04sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 24.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 24.04sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 24.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 24.05sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 24.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 24.05sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 24.05sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 24.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.33sINFOros2-16process has finished cleanly [pid 9336] ×2 + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916185 ms (missed cycles : 2). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916185 ms (missed cycles : 2).[0m ×2 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 27.72sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 29.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.51sINFOmove_groupClearing octomap...[0m ×2 + 29.51sINFOmove_groupOctomap cleared.[0m ×2 + 29.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 30.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 30.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 31.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.48sINFOobjective_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 + 31.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 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	73.9s	3 errors · 232 warnings · 240 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.889ms + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157829 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157829 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.481ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.107ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692254 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692254 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.815ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.782ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.297ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850883 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850883 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.356ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.672ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908579 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908579 ms (missed cycles : 3).[0m ×2 + 3.97sINFOamclParticle filter update iteration stats: 4425 particles 723 points - 5.448ms + 4.12sINFOobjective_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 + 4.13sINFOjoint_trajectory_controllerGot request to cancel goal + 4.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.13sINFOros2_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: 1787701747.92775655 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.08) 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 - 9.118ms + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083613 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083613 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787701748.53299260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547883 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547883 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748789 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748789 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.18sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.18sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.18sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.18sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895826 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895826 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462864 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462864 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.872ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.052ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595125 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595125 ms (missed cycles : 3).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.748ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.795ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870346 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870346 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.538ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.624ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032998 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032998 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.916ms + 12.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.346ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894115 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894115 ms (missed cycles : 2).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 4942 particles 723 points - 7.241ms + 13.80sINFOamclParticle filter update iteration stats: 3845 particles 723 points - 5.974ms + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960619 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960619 ms (missed cycles : 2).[0m ×2 + 14.29sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 4.355ms + 14.79sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 5.191ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257608 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257608 ms (missed cycles : 2).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.595ms + 15.79sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 2.161ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347031 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347031 ms (missed cycles : 2).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.441ms + 16.79sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.533ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916730 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916730 ms (missed cycles : 3).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962769 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962769 ms (missed cycles : 3).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135600 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135600 ms (missed cycles : 2).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973512 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973512 ms (missed cycles : 3).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945515 ms (missed cycles : 3). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945515 ms (missed cycles : 3).[0m ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103954 ms (missed cycles : 3). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103954 ms (missed cycles : 3).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663286 ms (missed cycles : 5). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663286 ms (missed cycles : 5).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315278 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315278 ms (missed cycles : 2).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839275 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839275 ms (missed cycles : 3).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457956 ms (missed cycles : 2). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457956 ms (missed cycles : 2).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639630 ms (missed cycles : 3). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639630 ms (missed cycles : 3).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746037 ms (missed cycles : 3). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746037 ms (missed cycles : 3).[0m ×2 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 28.91sINFOros2_control_nodeMuJoCo sim: 7.58% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293200 ms (missed cycles : 3). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293200 ms (missed cycles : 3).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961345 ms (missed cycles : 3). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961345 ms (missed cycles : 3).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968731 ms (missed cycles : 3). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968731 ms (missed cycles : 3).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512326 ms (missed cycles : 4). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512326 ms (missed cycles : 4).[0m ×2 + 33.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375366 ms (missed cycles : 2). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375366 ms (missed cycles : 2).[0m ×2 + 34.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953073 ms (missed cycles : 3). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953073 ms (missed cycles : 3).[0m ×2 + 35.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.56sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466714 ms (missed cycles : 4). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466714 ms (missed cycles : 4).[0m ×2 + 36.07sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.80sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420347 ms (missed cycles : 4). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420347 ms (missed cycles : 4).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400053 ms (missed cycles : 4). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400053 ms (missed cycles : 4).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092733 ms (missed cycles : 3). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092733 ms (missed cycles : 3).[0m ×2 + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253369 ms (missed cycles : 2). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253369 ms (missed cycles : 2).[0m ×2 + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872089 ms (missed cycles : 2). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872089 ms (missed cycles : 2).[0m ×2 + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 42.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881263 ms (missed cycles : 3). + 42.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881263 ms (missed cycles : 3).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702099 ms (missed cycles : 3). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702099 ms (missed cycles : 3).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106012 ms (missed cycles : 2). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106012 ms (missed cycles : 2).[0m ×2 + 44.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms ×2 + 45.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168161 ms (missed cycles : 3). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168161 ms (missed cycles : 3).[0m ×2 + 46.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 47.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085742 ms (missed cycles : 3). + 47.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085742 ms (missed cycles : 3).[0m ×2 + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948069 ms (missed cycles : 3). + 48.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948069 ms (missed cycles : 3).[0m ×2 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145856 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145856 ms (missed cycles : 2).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063965 ms (missed cycles : 3). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063965 ms (missed cycles : 3).[0m ×2 + 50.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996664 ms (missed cycles : 2). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996664 ms (missed cycles : 2).[0m ×2 + 52.10sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 52.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940128 ms (missed cycles : 4). + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940128 ms (missed cycles : 4).[0m ×2 + 52.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013025 ms (missed cycles : 4). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013025 ms (missed cycles : 4).[0m ×2 + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527114 ms (missed cycles : 5). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527114 ms (missed cycles : 5).[0m ×2 + 55.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886308 ms (missed cycles : 2). + 55.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886308 ms (missed cycles : 2).[0m ×2 + 56.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914244 ms (missed cycles : 5). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914244 ms (missed cycles : 5).[0m ×2 + 57.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976789 ms (missed cycles : 2). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976789 ms (missed cycles : 2).[0m ×2 + 58.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806823 ms (missed cycles : 3). + 58.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806823 ms (missed cycles : 3).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 59.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080497 ms (missed cycles : 3). + 59.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080497 ms (missed cycles : 3).[0m ×2 + 60.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 61.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997588 ms (missed cycles : 3). + 61.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997588 ms (missed cycles : 3).[0m ×2 + 61.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 62.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350767 ms (missed cycles : 2). + 62.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350767 ms (missed cycles : 2).[0m ×2 + 62.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 63.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732280 ms (missed cycles : 3). + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732280 ms (missed cycles : 3).[0m ×2 + 64.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338337 ms (missed cycles : 4). + 64.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338337 ms (missed cycles : 4).[0m ×2 + 64.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 65.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296936 ms (missed cycles : 4). + 65.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296936 ms (missed cycles : 4).[0m ×2 + 65.21sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 66.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168402 ms (missed cycles : 3). + 66.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168402 ms (missed cycles : 3).[0m ×2 + 67.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245286 ms (missed cycles : 4). + 67.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245286 ms (missed cycles : 4).[0m ×2 + 68.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731765 ms (missed cycles : 2). + 68.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731765 ms (missed cycles : 2).[0m ×2 + 69.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337776 ms (missed cycles : 3). + 69.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337776 ms (missed cycles : 3).[0m ×2 + 70.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 70.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602063 ms (missed cycles : 2). + 70.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602063 ms (missed cycles : 2).[0m ×2 + 71.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848307 ms (missed cycles : 4). + 71.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848307 ms (missed cycles : 4).[0m ×2 + 71.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 72.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 72.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915016 ms (missed cycles : 4). + 72.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915016 ms (missed cycles : 4).[0m ×2 + 73.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 73.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111596 ms (missed cycles : 4). + 73.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111596 ms (missed cycles : 4).[0m ×2 + 73.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 74.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684883 ms (missed cycles : 3). + 74.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684883 ms (missed cycles : 3).[0m ×2 + 74.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 75.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 75.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256639 ms (missed cycles : 4). + 75.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256639 ms (missed cycles : 4).[0m ×2 + 76.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 76.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913081 ms (missed cycles : 2). + 76.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913081 ms (missed cycles : 2).[0m ×2 + 77.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 77.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703481 ms (missed cycles : 3). + 77.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703481 ms (missed cycles : 3).[0m ×2 + 78.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787701821.83315563 seconds ×3 + 78.22sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.22sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.893ms + 78.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787701822.44827962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863448 ms (missed cycles : 3). + 78.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863448 ms (missed cycles : 3).[0m ×2 + 79.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702972 ms (missed cycles : 3). + 79.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702972 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	187 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2).[0m ×2 + 0.27sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.27sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787701580.06942534 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787701580.65829229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.863ms + 2.07sINFOobjective_server_nodeFound path in 0 iterations (2.6745e-05 s). ×2 + 2.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.11sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.11sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.11sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.11sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577665 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577665 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787701583.55841804 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377513 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377513 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787701584.14236569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554754 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554754 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561644 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561644 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147885 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147885 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768146 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768146 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.908ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144770 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144770 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.011ms + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205068 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205068 ms (missed cycles : 2).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857568 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857568 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922649 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922649 ms (missed cycles : 3).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 12.91sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239133 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239133 ms (missed cycles : 4).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093831 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093831 ms (missed cycles : 2).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968776 ms (missed cycles : 4). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.968776 ms (missed cycles : 4).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829862 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829862 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490410 ms (missed cycles : 4). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490410 ms (missed cycles : 4).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402456 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402456 ms (missed cycles : 3).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899769 ms (missed cycles : 2). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899769 ms (missed cycles : 2).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605000 ms (missed cycles : 3). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605000 ms (missed cycles : 3).[0m ×2 + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.830ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850681 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850681 ms (missed cycles : 2).[0m ×2 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300801 ms (missed cycles : 3). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300801 ms (missed cycles : 3).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207646 ms (missed cycles : 4). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207646 ms (missed cycles : 4).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985440 ms (missed cycles : 3). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985440 ms (missed cycles : 3).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684075 ms (missed cycles : 4). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684075 ms (missed cycles : 4).[0m ×2 + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259474 ms (missed cycles : 3). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259474 ms (missed cycles : 3).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737168 ms (missed cycles : 4). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737168 ms (missed cycles : 4).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030271 ms (missed cycles : 3). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030271 ms (missed cycles : 3).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645898 ms (missed cycles : 2). + 30.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645898 ms (missed cycles : 2).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574574 ms (missed cycles : 3). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574574 ms (missed cycles : 3).[0m ×2 + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969120 ms (missed cycles : 3). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969120 ms (missed cycles : 3).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117454 ms (missed cycles : 4). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117454 ms (missed cycles : 4).[0m ×2 + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784681 ms (missed cycles : 2). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784681 ms (missed cycles : 2).[0m ×2 + 35.44sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391601 ms (missed cycles : 3). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391601 ms (missed cycles : 3).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412716 ms (missed cycles : 3). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412716 ms (missed cycles : 3).[0m ×2 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609170 ms (missed cycles : 3). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609170 ms (missed cycles : 3).[0m ×2 + 39.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294946 ms (missed cycles : 4). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294946 ms (missed cycles : 4).[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217161 ms (missed cycles : 2). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217161 ms (missed cycles : 2).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310459 ms (missed cycles : 3). + 41.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310459 ms (missed cycles : 3).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 42.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084750 ms (missed cycles : 5). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084750 ms (missed cycles : 5).[0m ×2 + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587350 ms (missed cycles : 4). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587350 ms (missed cycles : 4).[0m ×2 + 44.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589859 ms (missed cycles : 2). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589859 ms (missed cycles : 2).[0m ×2 + 45.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431639 ms (missed cycles : 3). + 45.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431639 ms (missed cycles : 3).[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074279 ms (missed cycles : 4). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074279 ms (missed cycles : 4).[0m ×2 + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670080 ms (missed cycles : 4). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670080 ms (missed cycles : 4).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836736 ms (missed cycles : 2). + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836736 ms (missed cycles : 2).[0m ×2 + 50.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670663 ms (missed cycles : 3). + 50.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670663 ms (missed cycles : 3).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297765 ms (missed cycles : 3). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297765 ms (missed cycles : 3).[0m ×2 + 52.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111691 ms (missed cycles : 3). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111691 ms (missed cycles : 3).[0m ×2 + 53.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604551 ms (missed cycles : 4). + 53.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604551 ms (missed cycles : 4).[0m ×2 + 55.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008898 ms (missed cycles : 5). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008898 ms (missed cycles : 5).[0m ×2 + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257448 ms (missed cycles : 2). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257448 ms (missed cycles : 2).[0m ×2 + 56.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4).[0m ×2 + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2). + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2).[0m ×2 + 59.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4). + 59.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4).[0m ×2 + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 60.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2).[0m ×2 + 61.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787701640.83249736 seconds ×3 + 61.24sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.24sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.459ms + 61.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787701641.43240428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 62.15sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 62.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2).[0m ×2 + 63.05sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.05sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4). + 63.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	57.0s	183 warnings · 191 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.77sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787701679.85121036 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3).[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.293ms + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787701680.43543839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150107 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150107 ms (missed cycles : 3).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561342 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561342 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.112ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190377 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190377 ms (missed cycles : 2).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.135ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605234 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605234 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.100ms + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813650 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813650 ms (missed cycles : 3).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.302ms + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.318ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716187 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716187 ms (missed cycles : 2).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.604ms + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.821ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442313 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442313 ms (missed cycles : 3).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 4921 particles 723 points - 8.091ms + 14.10sINFOamclParticle filter update iteration stats: 3918 particles 723 points - 5.810ms + 14.60sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 4.771ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120938 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120938 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 3.568ms + 15.60sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.000ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023998 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023998 ms (missed cycles : 3).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 2.715ms + 16.60sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.045ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688819 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688819 ms (missed cycles : 3).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.561ms + 17.60sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.454ms + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950211 ms (missed cycles : 2). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950211 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.391ms + 18.60sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.224ms + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064738 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064738 ms (missed cycles : 2).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976749 ms (missed cycles : 3). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976749 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760891 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760891 ms (missed cycles : 2).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460701 ms (missed cycles : 3). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460701 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084158 ms (missed cycles : 4). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084158 ms (missed cycles : 4).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002041 ms (missed cycles : 4). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002041 ms (missed cycles : 4).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364743 ms (missed cycles : 4). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364743 ms (missed cycles : 4).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280356 ms (missed cycles : 2). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280356 ms (missed cycles : 2).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461997 ms (missed cycles : 4). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461997 ms (missed cycles : 4).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056843 ms (missed cycles : 4). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056843 ms (missed cycles : 4).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949467 ms (missed cycles : 3). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949467 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825110 ms (missed cycles : 2). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825110 ms (missed cycles : 2).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945750 ms (missed cycles : 3). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945750 ms (missed cycles : 3).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147485 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147485 ms (missed cycles : 2).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757538 ms (missed cycles : 2). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757538 ms (missed cycles : 2).[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844412 ms (missed cycles : 4). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844412 ms (missed cycles : 4).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301388 ms (missed cycles : 4). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301388 ms (missed cycles : 4).[0m ×2 + 36.62sINFOros2_control_nodeMuJoCo sim: 8.41% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034508 ms (missed cycles : 5). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034508 ms (missed cycles : 5).[0m ×2 + 37.35sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.06sINFOobjective_server_nodePlanning for 45 path waypoints. ×3 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638337 ms (missed cycles : 5). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638337 ms (missed cycles : 5).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007334 ms (missed cycles : 2). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007334 ms (missed cycles : 2).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601641 ms (missed cycles : 5). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601641 ms (missed cycles : 5).[0m ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967708 ms (missed cycles : 3). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967708 ms (missed cycles : 3).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 42.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896773 ms (missed cycles : 5). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896773 ms (missed cycles : 5).[0m ×2 + 42.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 43.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901736 ms (missed cycles : 3). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901736 ms (missed cycles : 3).[0m ×2 + 44.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767112 ms (missed cycles : 4). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767112 ms (missed cycles : 4).[0m ×2 + 45.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069313 ms (missed cycles : 3). + 45.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069313 ms (missed cycles : 3).[0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 46.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784496 ms (missed cycles : 4). + 46.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784496 ms (missed cycles : 4).[0m ×2 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508265 ms (missed cycles : 3). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508265 ms (missed cycles : 3).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012376 ms (missed cycles : 2). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012376 ms (missed cycles : 2).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784495 ms (missed cycles : 2). + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784495 ms (missed cycles : 2).[0m ×2 + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106198 ms (missed cycles : 2). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106198 ms (missed cycles : 2).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 52.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954660 ms (missed cycles : 3). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954660 ms (missed cycles : 3).[0m ×2 + 53.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739158 ms (missed cycles : 2). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739158 ms (missed cycles : 2).[0m ×2 + 54.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 54.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714977 ms (missed cycles : 3). + 54.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714977 ms (missed cycles : 3).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836039 ms (missed cycles : 4). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836039 ms (missed cycles : 4).[0m ×2 + 56.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089626 ms (missed cycles : 4). + 56.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089626 ms (missed cycles : 4).[0m ×2 + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042318 ms (missed cycles : 2). + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042318 ms (missed cycles : 2).[0m ×2 + 57.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 58.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722031 ms (missed cycles : 2). + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722031 ms (missed cycles : 2).[0m ×2 + 59.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 59.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023764 ms (missed cycles : 3). + 59.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023764 ms (missed cycles : 3).[0m ×2 + 60.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909539 ms (missed cycles : 3). + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909539 ms (missed cycles : 3).[0m ×2 + 60.80sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787701736.85558224 seconds ×3 + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 10.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.879ms + 61.41sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787701737.45819020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566721 ms (missed cycles : 3). + 61.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566721 ms (missed cycles : 3).[0m ×2 + 61.91sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 62.75sWARNglobal_costmap.global_costmapSensor origin at (6.48, -3.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.75sWARNglobal_costmap.global_costmapSensor origin at (5.80, -3.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682002 ms (missed cycles : 3). + 62.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682002 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.0s	184 warnings · 175 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764374 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764374 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.53sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.53sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077882 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077882 ms (missed cycles : 2).[0m ×2 + 7.97sINFOros2_control_nodeMuJoCo sim: 8.68% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569885 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569885 ms (missed cycles : 3).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.355ms + 9.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.014ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060232 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060232 ms (missed cycles : 2).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.240ms + 10.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.004ms + 10.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.380ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641928 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641928 ms (missed cycles : 3).[0m ×2 + 11.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.043ms + 11.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481019 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481019 ms (missed cycles : 3).[0m ×2 + 12.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.235ms + 12.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.288ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419835 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419835 ms (missed cycles : 2).[0m ×2 + 13.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.078ms + 13.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.342ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035661 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035661 ms (missed cycles : 3).[0m ×2 + 14.05sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 7.299ms + 14.55sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 5.155ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712799 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712799 ms (missed cycles : 2).[0m ×2 + 15.05sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 6.008ms + 15.55sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 3.901ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969850 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969850 ms (missed cycles : 3).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 3.294ms + 16.55sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 2.627ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539520 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539520 ms (missed cycles : 3).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.120ms + 17.55sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.686ms + 18.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813361 ms (missed cycles : 4). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813361 ms (missed cycles : 4).[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517927 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517927 ms (missed cycles : 3).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997641 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997641 ms (missed cycles : 3).[0m ×2 + 20.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 21.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470797 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470797 ms (missed cycles : 3).[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 22.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781187 ms (missed cycles : 3). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781187 ms (missed cycles : 3).[0m ×2 + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711936 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711936 ms (missed cycles : 3).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048307 ms (missed cycles : 3). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048307 ms (missed cycles : 3).[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318775 ms (missed cycles : 3). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318775 ms (missed cycles : 3).[0m ×2 + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647490 ms (missed cycles : 3). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647490 ms (missed cycles : 3).[0m ×2 + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622685 ms (missed cycles : 4). + 27.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622685 ms (missed cycles : 4).[0m ×2 + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976011 ms (missed cycles : 3). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976011 ms (missed cycles : 3).[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms ×2 + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918155 ms (missed cycles : 3). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918155 ms (missed cycles : 3).[0m ×2 + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765944 ms (missed cycles : 3). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765944 ms (missed cycles : 3).[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159828 ms (missed cycles : 2). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159828 ms (missed cycles : 2).[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890345 ms (missed cycles : 4). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890345 ms (missed cycles : 4).[0m ×2 + 33.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043251 ms (missed cycles : 4). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043251 ms (missed cycles : 4).[0m ×2 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 34.95sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829512 ms (missed cycles : 2). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829512 ms (missed cycles : 2).[0m ×2 + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467381 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467381 ms (missed cycles : 2).[0m ×2 + 36.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381330 ms (missed cycles : 3). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381330 ms (missed cycles : 3).[0m ×2 + 38.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195287 ms (missed cycles : 3). + 38.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195287 ms (missed cycles : 3).[0m ×2 + 39.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 39.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857708 ms (missed cycles : 4). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857708 ms (missed cycles : 4).[0m ×2 + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349687 ms (missed cycles : 3). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349687 ms (missed cycles : 3).[0m ×2 + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209427 ms (missed cycles : 2). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209427 ms (missed cycles : 2).[0m ×2 + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850542 ms (missed cycles : 5). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850542 ms (missed cycles : 5).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513050 ms (missed cycles : 3). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513050 ms (missed cycles : 3).[0m ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967019 ms (missed cycles : 3). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967019 ms (missed cycles : 3).[0m ×2 + 44.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158253 ms (missed cycles : 4). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158253 ms (missed cycles : 4).[0m ×2 + 46.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720883 ms (missed cycles : 5). + 46.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720883 ms (missed cycles : 5).[0m ×2 + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207685 ms (missed cycles : 5). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207685 ms (missed cycles : 5).[0m ×2 + 48.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120223 ms (missed cycles : 3). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120223 ms (missed cycles : 3).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141744 ms (missed cycles : 2). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141744 ms (missed cycles : 2).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979377 ms (missed cycles : 2). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979377 ms (missed cycles : 2).[0m ×2 + 51.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069919 ms (missed cycles : 4). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069919 ms (missed cycles : 4).[0m ×2 + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008452 ms (missed cycles : 4). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008452 ms (missed cycles : 4).[0m ×2 + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167227 ms (missed cycles : 2). + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167227 ms (missed cycles : 2).[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293113 ms (missed cycles : 2). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293113 ms (missed cycles : 2).[0m ×2 + 55.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288579 ms (missed cycles : 4). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288579 ms (missed cycles : 4).[0m ×2 + 57.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272339 ms (missed cycles : 2). + 57.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272339 ms (missed cycles : 2).[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445772 ms (missed cycles : 3). + 58.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445772 ms (missed cycles : 3).[0m ×2 + 59.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 59.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795465 ms (missed cycles : 2). + 59.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795465 ms (missed cycles : 2).[0m ×2 + 60.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787701885.29115462 seconds ×3 + 60.68sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.68sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074652 ms (missed cycles : 3). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074652 ms (missed cycles : 3).[0m ×2 + 60.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.119ms + 60.78sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.78sWARNlocal_costmap.local_costmapSensor origin at (-1.44, 3.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.323ms + 61.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787701885.88901734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.60sINFOobjective_server_nodeFound path in 0 iterations (7.71e-07 s). ×2 + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473043 ms (missed cycles : 3). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473043 ms (missed cycles : 3).[0m ×2 + 61.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592005 ms (missed cycles : 3). + 62.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592005 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	141 warnings · 266 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217693 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217693 ms (missed cycles : 4).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641354 ms (missed cycles : 4). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641354 ms (missed cycles : 4).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015765 ms (missed cycles : 3). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015765 ms (missed cycles : 3).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772944 ms (missed cycles : 4). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772944 ms (missed cycles : 4).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398752 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398752 ms (missed cycles : 3).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996597 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996597 ms (missed cycles : 3).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902848 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902848 ms (missed cycles : 2).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383477 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383477 ms (missed cycles : 3).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390649 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390649 ms (missed cycles : 3).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168089 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168089 ms (missed cycles : 3).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166894 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166894 ms (missed cycles : 2).[0m ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108750 ms (missed cycles : 3). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108750 ms (missed cycles : 3).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891475 ms (missed cycles : 3). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891475 ms (missed cycles : 3).[0m ×2 + 20.62sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.102ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201710 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201710 ms (missed cycles : 2).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369336 ms (missed cycles : 3). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369336 ms (missed cycles : 3).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986534 ms (missed cycles : 3). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986534 ms (missed cycles : 3).[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556996 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556996 ms (missed cycles : 3).[0m ×2 + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954195 ms (missed cycles : 3). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954195 ms (missed cycles : 3).[0m ×2 + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940064 ms (missed cycles : 3). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940064 ms (missed cycles : 3).[0m ×2 + 27.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266603 ms (missed cycles : 3). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266603 ms (missed cycles : 3).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853255 ms (missed cycles : 3). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853255 ms (missed cycles : 3).[0m ×2 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878023 ms (missed cycles : 3). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878023 ms (missed cycles : 3).[0m ×2 + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015678 ms (missed cycles : 2). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015678 ms (missed cycles : 2).[0m ×2 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165374 ms (missed cycles : 2). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165374 ms (missed cycles : 2).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821127 ms (missed cycles : 4). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821127 ms (missed cycles : 4).[0m ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622907 ms (missed cycles : 3). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622907 ms (missed cycles : 3).[0m ×2 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084418 ms (missed cycles : 3). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084418 ms (missed cycles : 3).[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815967 ms (missed cycles : 3). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815967 ms (missed cycles : 3).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105809 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105809 ms (missed cycles : 3).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252933 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252933 ms (missed cycles : 2).[0m ×2 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518062 ms (missed cycles : 3). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518062 ms (missed cycles : 3).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806416 ms (missed cycles : 3). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806416 ms (missed cycles : 3).[0m ×2 + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161129 ms (missed cycles : 2). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161129 ms (missed cycles : 2).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901091 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901091 ms (missed cycles : 3).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834897 ms (missed cycles : 2). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834897 ms (missed cycles : 2).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429671 ms (missed cycles : 3). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429671 ms (missed cycles : 3).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3).[0m ×2 + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2).[0m ×2 + 47.48sINFOjoint_trajectory_controllerGoal reached, success! + 47.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787701580.06942534 seconds ×3 + 47.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787701580.65829229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3).[0m ×2 + 48.42sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.863ms + 49.29sINFOobjective_server_nodeFound path in 0 iterations (2.6745e-05 s). ×2 + 49.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	130 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141843 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141843 ms (missed cycles : 4).[0m ×2 + 0.13sWARNglobal_costmap.global_costmapSensor origin at (-0.90, -5.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 0.13sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208409 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208409 ms (missed cycles : 3).[0m ×2 + 1.13sWARNglobal_costmap.global_costmapSensor origin at (-0.89, -5.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 1.13sWARNglobal_costmap.global_costmapSensor origin at (-1.25, -4.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868487 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868487 ms (missed cycles : 3).[0m ×2 + 2.13sWARNglobal_costmap.global_costmapSensor origin at (-0.88, -5.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 2.13sWARNglobal_costmap.global_costmapSensor origin at (-1.25, -4.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787701647.23254395 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892704 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892704 ms (missed cycles : 3).[0m ×2 + 3.13sWARNglobal_costmap.global_costmapSensor origin at (-0.88, -5.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607273 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607273 ms (missed cycles : 3).[0m ×2 + 4.13sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.15sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787701648.82107282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.13sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151045 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151045 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801942 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801942 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.13sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523627 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523627 ms (missed cycles : 2).[0m ×2 + 7.99sINFOros2_control_nodeMuJoCo sim: 10.69% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.13sWARNglobal_costmap.global_costmapSensor origin at (-0.80, -5.52) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.13sWARNglobal_costmap.global_costmapSensor origin at (-1.21, -4.72) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129789 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129789 ms (missed cycles : 3).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.876ms + 9.13sWARNglobal_costmap.global_costmapSensor origin at (-0.57, -5.32) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.13sWARNglobal_costmap.global_costmapSensor origin at (-1.00, -4.53) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641894 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641894 ms (missed cycles : 3).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.917ms + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.619ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488231 ms (missed cycles : 4). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488231 ms (missed cycles : 4).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.420ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189892 ms (missed cycles : 2). + 11.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.598ms + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189892 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.987ms + 12.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.293ms + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133321 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133321 ms (missed cycles : 3).[0m ×2 + 13.38sINFOamclParticle filter update iteration stats: 4239 particles 723 points - 6.889ms + 13.88sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 5.859ms + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037910 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037910 ms (missed cycles : 3).[0m ×2 + 14.38sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.258ms + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181812 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181812 ms (missed cycles : 2).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519961 ms (missed cycles : 5). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519961 ms (missed cycles : 5).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993289 ms (missed cycles : 4). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993289 ms (missed cycles : 4).[0m ×2 + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms ×2 + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881905 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881905 ms (missed cycles : 3).[0m ×2 + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 18.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750912 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750912 ms (missed cycles : 2).[0m ×2 + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726691 ms (missed cycles : 4). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726691 ms (missed cycles : 4).[0m ×2 + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163509 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163509 ms (missed cycles : 2).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015088 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015088 ms (missed cycles : 2).[0m ×2 + 22.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177530 ms (missed cycles : 3). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177530 ms (missed cycles : 3).[0m ×2 + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950864 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950864 ms (missed cycles : 3).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427360 ms (missed cycles : 2). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427360 ms (missed cycles : 2).[0m ×2 + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926590 ms (missed cycles : 5). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926590 ms (missed cycles : 5).[0m ×2 + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530252 ms (missed cycles : 4). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530252 ms (missed cycles : 4).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366903 ms (missed cycles : 2). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366903 ms (missed cycles : 2).[0m ×2 + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432198 ms (missed cycles : 3). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432198 ms (missed cycles : 3).[0m ×2 + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221554 ms (missed cycles : 4). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221554 ms (missed cycles : 4).[0m ×2 + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3).[0m ×2 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4).[0m ×2 + 33.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3).[0m ×2 + 34.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 35.18sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787701679.85121036 seconds ×3 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3).[0m ×2 + 35.31sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.31sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.293ms + 35.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787701680.43543839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.16sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.1s	67 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272339 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272339 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445772 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445772 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795465 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795465 ms (missed cycles : 2).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787701885.29115462 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074652 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074652 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.119ms + 3.56sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.58) 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 (-1.44, 3.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.323ms + 3.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787701885.88901734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (7.71e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473043 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473043 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.59sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.59sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592005 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592005 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934030 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934030 ms (missed cycles : 4).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677544 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677544 ms (missed cycles : 3).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583500 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583500 ms (missed cycles : 3).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392682 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392682 ms (missed cycles : 3).[0m ×2 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 10.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 10.42sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.46sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 10.54sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 10.75sINFOros2_control_nodeMuJoCo sim: 9.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.84sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350210 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350210 ms (missed cycles : 3).[0m ×2 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 11.18sINFOobjective_server_nodeFound path in 33 iterations (0.0511461 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.57sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 12.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722250 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722250 ms (missed cycles : 3).[0m ×2 + 12.47sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275654 ms (missed cycles : 4). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275654 ms (missed cycles : 4).[0m ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.47sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791204 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791204 ms (missed cycles : 3).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700468 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700468 ms (missed cycles : 2).[0m ×2 + 15.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.280ms + 15.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500667 ms (missed cycles : 4). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500667 ms (missed cycles : 4).[0m ×2 + 16.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 17.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.567ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2).[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.392ms + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 19.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2).[0m ×2 + 19.48sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787701901.40491557 seconds ×3 + 19.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.181ms + 19.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.179ms + 20.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701902.02638364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.11sINFOmove_groupClearing octomap...[0m ×2 + 20.11sINFOmove_groupOctomap cleared.[0m ×2 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4).[0m ×2 + 20.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701902.74651241 seconds ×3 + 21.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701903.33305001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4).[0m ×2 + 22.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787701904.01469254 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.0s	94 errors · 33 warnings · 431 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.567ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.392ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 2.42sINFOjoint_trajectory_controllerGoal reached, success! + 2.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787701901.40491557 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.181ms + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.179ms + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701902.02638364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.08sINFOmove_groupClearing octomap...[0m ×2 + 3.08sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701902.74651241 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701903.33305001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787701904.01469254 seconds ×3 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456619 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456619 ms (missed cycles : 3).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190191 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190191 ms (missed cycles : 3).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003693 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003693 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909887 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909887 ms (missed cycles : 2).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933412 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933412 ms (missed cycles : 3).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435765 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435765 ms (missed cycles : 3).[0m ×2 + 11.23sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.34sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORweb_video_auth_proxy-35process has died [pid 9376, 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 + 11.34sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×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 + 11.37sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.42sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORweb_bridge_auth_proxy-34process has died [pid 9374, 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 + 11.43sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.49sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.53sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.56sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.58sINFOvideo_server-33process has finished cleanly [pid 9371] ×2 + 11.59sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.62sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.65sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.68sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.72sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.75sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.78sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.81sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.83sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9370] ×2 + 11.85sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.88sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.90sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.92sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.92sINFOcontroller_managerShutdown request received.... + 11.92sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.92sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.92sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.92sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.92sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.92sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.92sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.92sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.92sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.92sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.92sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.92sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.92sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.92sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.92sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.92sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.92sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.92sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.93sINFOcontroller_managerShutting down the controller manager. + 11.95sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.95sERRORmove_group-21process has died [pid 9341, 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_m2i6f5v9 --params-file /tmp/launch_params_r49scneh --params-file /tmp/launch_params_99nyad3w --params-file /tmp/launch_params_c5f5tvxg --params-file /tmp/launch_params_nf601kob --params-file /tmp/launch_params_lpjpgzik']. ×2 + 11.95sINFOui_teleop_bridge-30process has finished cleanly [pid 9368] ×2 + 11.97sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787701910.629 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.97sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.98sINFOcomponent_container_mt-28process has finished cleanly [pid 9366] ×2 + 12.00sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.02sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.02sINFOexecute_objective_bridge-29process has finished cleanly [pid 9367] ×2 + 12.04sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.06sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.09sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.09sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.09sINFOmap_serverDeactivating + 12.09sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.10sINFOmap_serverCleaning up + 12.10sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.10sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.11sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.11sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.11sINFOcontroller_serverDeactivating + 12.11sINFOlocal_costmap.local_costmapDeactivating + 12.11sINFOvideo_server2026/08/25 23:51:50 INF shutting down gracefully ×2 + 12.11sINFOvideo_server2026/08/25 23:51:50 INF [WebRTC] closing ×2 + 12.11sINFOvideo_server2026/08/25 23:51:50 INF [RTSP] closing ×2 + 12.11sINFOvideo_server2026/08/25 23:51:50 INF waiting for running hooks ×2 + 12.11sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.12sERRORamclThe bond connection to the lifecycle manager has been broken + 12.12sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.12sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.12sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.12sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.12sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.12sERRORmove_groupStack trace (most recent call last) in thread 9940: ×2 + 12.12sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.12sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2692767a63, in __clone ×2 + 12.12sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f26926daaa3, in ×2 + 12.13sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f269296cdb3, in ×2 + 12.13sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f26930dda47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.13sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2692cfe620, in rclcpp::Rate::sleep() ×2 + 12.13sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2692c40d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2692c02087, in ×2 + 12.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f269293b390, in __cxa_throw ×2 + 12.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2692925a54, in std::terminate() ×2 + 12.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f269293b0d9, in ×2 + 12.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2692925ff4, in ×2 + 12.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f26926668fe, in abort ×2 + 12.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f269268327d, in raise ×2 + 12.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f26926dcb2c, in pthread_kill ×2 + 12.13sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.13sERRORmove_groupAborted (Signal sent by tkill() 9341 0) ×2 + 12.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.13sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.13sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.13sINFOcontroller_serverCleaning up + 12.13sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.13sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.13sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.13sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.13sINFOlocal_costmap.local_costmapCleaning up + 12.14sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.14sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.14sINFOodom_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 + 12.14sINFOodom_qos_relay.pymain() ×2 + 12.14sINFOodom_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 + 12.14sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.14sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.14sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.14sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.14sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.14sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.14sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.14sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.16sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.16sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.16sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.18sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.18sINFOsmoother_serverDeactivating + 12.18sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.19sINFOsmoother_serverCleaning up + 12.21sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.21sINFOplanner_serverDeactivating + 12.21sINFOglobal_costmap.global_costmapDeactivating + 12.28sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.28sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.28sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.28sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.28sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.28sINFOvelocity_smootherDeactivating + 12.28sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.31sERRORcomponent_container_isolated-2process has died [pid 9245, 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__zk0x0yz --params-file /tmp/launch_params_uaqegai_ -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.40sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.40sINFOwaypoint_followerDeactivating + 12.40sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.51sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.51sINFObt_navigatorDeactivating + 12.51sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.62sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.62sINFObehavior_serverDeactivating + 12.62sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.74sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.74sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.74sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.74sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.74sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.74sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.74sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.74sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.74sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.74sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.74sINFOvelocity_smootherCleaning up + 12.74sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.74sINFOwaypoint_followerCleaning up + 12.77sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.77sINFObt_navigatorCleaning up + 12.82sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9363] ×2 + 12.84sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.84sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.85sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9362] ×2 + 12.85sINFOplanner_serverCleaning up + 12.87sINFOglobal_costmap.global_costmapCleaning up + 12.88sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.88sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.90sINFOobjective_server_node[2026-08-25 23:51:51.864] [moveit_pro_license] [critical] ×2 + 12.90sINFOobjective_server_node************************************************* ×4 + 12.90sINFOobjective_server_node* MoveIt Pro License ×2 + 12.90sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.91sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.91sINFObehavior_serverCleaning up + 12.92sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.92sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.92sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.92sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.92sINFOcomponent_container_mt-27process has finished cleanly [pid 9365] ×2 + 12.92sINFOparameter_manager_node-22process has finished cleanly [pid 9342] ×2 + 12.92sINFOwaypoint_manager_node-23process has finished cleanly [pid 9343] ×2 + 12.95sINFObt_navigatorCompleted Cleaning up + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.96sINFOobjective_server_node_main-26process has finished cleanly [pid 9364] ×2 + 12.97sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.99sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9251] ×2 + 13.01sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.01sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.01sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.01sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.01sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.01sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.01sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.01sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.02sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9250] ×2 + 13.08sINFOstatic_transform_publisher-4process has finished cleanly [pid 9247] ×2 + 13.11sINFOstatic_transform_publisher-3process has finished cleanly [pid 9246] ×2 + 13.13sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9249] ×2 + 13.14sERRORodom_qos_relay.py-5process has died [pid 9248, 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 + 13.28sERRORcomponent_container_isolated-1process has died [pid 9244, 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__zk0x0yz --params-file /tmp/launch_params_3xhwjc3j -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.23sINFOweb_bridge-31process has finished cleanly [pid 9369] ×2 + 14.23sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.66sINFOros2_control_node-9process has finished cleanly [pid 9252] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.1s	3 errors · 68 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089626 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089626 ms (missed cycles : 4).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042318 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042318 ms (missed cycles : 2).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722031 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722031 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023764 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023764 ms (missed cycles : 3).[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909539 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909539 ms (missed cycles : 3).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787701736.85558224 seconds ×3 + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 10.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.879ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787701737.45819020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566721 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566721 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 6.18sWARNglobal_costmap.global_costmapSensor origin at (6.48, -3.28) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.18sWARNglobal_costmap.global_costmapSensor origin at (5.80, -3.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682002 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682002 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333012 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333012 ms (missed cycles : 4).[0m ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.50sINFOjoint_trajectory_controllerReceived new action goal + 7.51sINFOjoint_trajectory_controllerAccepted new action goal + 7.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.18sWARNglobal_costmap.global_costmapSensor origin at (6.46, -3.27) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.18sWARNglobal_costmap.global_costmapSensor origin at (5.79, -3.87) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848875 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848875 ms (missed cycles : 2).[0m ×2 + 9.18sWARNglobal_costmap.global_costmapSensor origin at (6.27, -3.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.18sWARNglobal_costmap.global_costmapSensor origin at (5.64, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942987 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942987 ms (missed cycles : 3).[0m ×2 + 9.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.438ms + 10.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.238ms + 10.18sWARNglobal_costmap.global_costmapSensor origin at (5.95, -2.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.18sWARNglobal_costmap.global_costmapSensor origin at (5.34, -3.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843768 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843768 ms (missed cycles : 3).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.395ms + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.889ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157829 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157829 ms (missed cycles : 3).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.481ms + 12.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.107ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692254 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692254 ms (missed cycles : 3).[0m ×2 + 12.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.815ms + 13.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.782ms + 13.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.297ms + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850883 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850883 ms (missed cycles : 2).[0m ×2 + 14.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.356ms + 14.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.672ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908579 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908579 ms (missed cycles : 3).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 4425 particles 723 points - 5.448ms + 15.26sINFOobjective_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 + 15.27sINFOjoint_trajectory_controllerGot request to cancel goal + 15.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.27sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.31sERRORobjective_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: 1787701747.92775655 seconds ×3 + 15.46sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.46sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083613 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083613 ms (missed cycles : 3).[0m ×2 + 15.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787701748.53299260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.30sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547883 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547883 ms (missed cycles : 2).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748789 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748789 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	62 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787701640.83249736 seconds ×3 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.459ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787701641.43240428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2).[0m ×2 + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4).[0m ×2 + 6.87sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 6.87sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.80) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×5 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141843 ms (missed cycles : 4). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141843 ms (missed cycles : 4).[0m ×2 + 7.87sWARNglobal_costmap.global_costmapSensor origin at (-0.90, -5.63) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208409 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208409 ms (missed cycles : 3).[0m ×2 + 8.87sWARNglobal_costmap.global_costmapSensor origin at (-0.89, -5.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.87sWARNglobal_costmap.global_costmapSensor origin at (-1.25, -4.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868487 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868487 ms (missed cycles : 3).[0m ×2 + 9.87sWARNglobal_costmap.global_costmapSensor origin at (-0.88, -5.65) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.87sWARNglobal_costmap.global_costmapSensor origin at (-1.25, -4.83) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 10.30sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787701647.23254395 seconds ×3 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892704 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892704 ms (missed cycles : 3).[0m ×2 + 10.87sWARNglobal_costmap.global_costmapSensor origin at (-0.88, -5.66) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607273 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607273 ms (missed cycles : 3).[0m ×2 + 11.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787701648.82107282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.37sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151045 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151045 ms (missed cycles : 4).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801942 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801942 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 - 1.048ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684883 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684883 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256639 ms (missed cycles : 4). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256639 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913081 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913081 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703481 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703481 ms (missed cycles : 3).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.08sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787701821.83315563 seconds ×3 + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.23sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.893ms + 4.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787701822.44827962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863448 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863448 ms (missed cycles : 3).[0m ×2 + 5.18sINFOjoint_trajectory_controllerReceived new action goal + 5.18sINFOjoint_trajectory_controllerAccepted new action goal + 5.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702972 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702972 ms (missed cycles : 3).[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 10.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 11.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 11.55sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	30 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429671 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429671 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787701580.06942534 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787701580.65829229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.863ms + 5.24sINFOobjective_server_nodeFound path in 0 iterations (2.6745e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577665 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577665 ms (missed cycles : 3).[0m ×2 + 6.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787701583.55841804 seconds ×3 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377513 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377513 ms (missed cycles : 3).[0m ×2 + 7.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787701584.14236569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554754 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554754 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561644 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561644 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	21 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.280ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500667 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500667 ms (missed cycles : 4).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.567ms + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.392ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787701901.40491557 seconds ×3 + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.181ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.179ms + 4.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701902.02638364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.88sINFOmove_groupClearing octomap...[0m ×2 + 4.88sINFOmove_groupOctomap cleared.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701902.74651241 seconds ×3 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701903.33305001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4).[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787701904.01469254 seconds ×3 + 7.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456619 ms (missed cycles : 3). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456619 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217693 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217693 ms (missed cycles : 4).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787701640.83249736 seconds ×3 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.459ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787701641.43240428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2).[0m ×2 + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787701640.83249736 seconds ×3 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.459ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787701641.43240428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2).[0m ×2 + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787701679.85121036 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3).[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.293ms + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787701680.43543839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787701679.85121036 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3).[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.293ms + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787701680.43543839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 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 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[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 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[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 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429671 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429671 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787701580.06942534 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787701580.65829229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.863ms + 5.24sINFOobjective_server_nodeFound path in 0 iterations (2.6745e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 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 4.429671 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429671 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067497 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921017 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787701580.06942534 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787701580.65829229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.863ms + 5.24sINFOobjective_server_nodeFound path in 0 iterations (2.6745e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.28sINFOjoint_trajectory_controllerReceived new action goal + 5.28sINFOjoint_trajectory_controllerAccepted new action goal + 5.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 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 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 2.979809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979809 ms (missed cycles : 2).[0m ×2 + 0.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787701580.06942534 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787701580.65829229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999561 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.863ms + 2.07sINFOobjective_server_nodeFound path in 0 iterations (2.6745e-05 s). ×2 + 2.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOjoint_trajectory_controllerReceived new action goal + 2.11sINFOjoint_trajectory_controllerAccepted new action goal + 2.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928574 ms (missed cycles : 3).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577665 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577665 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787701583.55841804 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377513 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377513 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787701584.14236569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554754 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554754 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561644 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561644 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787701640.83249736 seconds ×3 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.459ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787701641.43240428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2).[0m ×2 + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787701640.83249736 seconds ×3 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.459ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787701641.43240428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2).[0m ×2 + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	25 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161067 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000196 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070246 ms (missed cycles : 4).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862851 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787701640.83249736 seconds ×3 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.459ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787701641.43240428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790676 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770841 ms (missed cycles : 2).[0m ×2 + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-0.91, -5.62) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.87sWARNglobal_costmap.global_costmapSensor origin at (-1.26, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526272 ms (missed cycles : 4).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653440 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760321 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341682 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787701679.85121036 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872757 ms (missed cycles : 3).[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.293ms + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787701680.43543839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230265 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571697 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_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 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_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 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[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 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[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 2.380566 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380566 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093000 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722229 ms (missed cycles : 3).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315707 ms (missed cycles : 2).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787701828.28842616 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787701828.88101029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498957 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590591 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.280ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500667 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500667 ms (missed cycles : 4).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.567ms + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572930 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.392ms + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559483 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760931 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787701901.40491557 seconds ×3 + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.181ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.179ms + 4.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701902.02638364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.88sINFOmove_groupClearing octomap...[0m ×2 + 4.88sINFOmove_groupOctomap cleared.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241576 ms (missed cycles : 4).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701902.74651241 seconds ×3 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701903.33305001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502680 ms (missed cycles : 4).[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787701904.01469254 seconds ×3
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_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_point_subtree.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_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 3.055469 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_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 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_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 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_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 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3
− 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 3.055469 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_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 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_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 3.406593 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406593 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055469 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 2.20sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_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 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

10 skip

− skipped	—	move_to_pose.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217693 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217693 ms (missed cycles : 4).[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	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_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	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926197 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845479 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701534.45002460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701534.46023035 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650619 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701535.04867697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701535.05881953 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701535.64679933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701535.79754281 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379514 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701536.40913939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701536.46926165 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324448 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787701537.05407643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868572 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2