68
Total objective tests
17
Objectives passed
0
Objectives failed
51
Objectives skipped
23.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 29.3s | 55 errors · 499 warnings · 7504 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-26-00-13-55-031162-67f1e72d153b-9483 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 0.06sINFOlaunch.usernav2 params (ROS_DISTRO=jazzy): /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/params/nav2_params_jazzy.yaml ×3 + 10.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 11.00sINFOros2_control_node-8process started with pid [9540] + 11.00sINFOmove_group-20process started with pid [9647] + 11.00sINFOparameter_manager_node-21process started with pid [9648] + 11.00sINFOwaypoint_manager_node-22process started with pid [9649] + 11.00sINFOmove_joint_resampler_node-23process started with pid [9650] + 11.00sINFOmove_end_effector_resampler_node-24process started with pid [9690] + 11.00sINFOobjective_server_node_main-25process started with pid [9691] + 11.00sINFOcomponent_container_mt-26process started with pid [9692] + 11.00sINFOcomponent_container_mt-27process started with pid [9693] + 11.00sINFOexecute_objective_bridge-28process started with pid [9694] + 11.01sINFOui_teleop_bridge-29process started with pid [9695] + 11.01sINFOweb_bridge-30process started with pid [9697] + 11.01sINFOtf2_web_republisher_node-31process started with pid [9699] + 11.01sINFOweb_video_server-32process started with pid [9700] + 11.04sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 11.04sINFOcomponent_container_isolated-1process started with pid [9533] + 11.04sINFOstatic_transform_publisher-2process started with pid [9534] + 11.04sINFOstatic_transform_publisher-3process started with pid [9535] + 11.04sINFOstatic_transform_publisher-4process started with pid [9536] + 11.04sINFOodom_qos_relay.py-5process started with pid [9537] + 11.04sINFOscan_to_scan_filter_chain-6process started with pid [9538] + 11.04sINFOscan_to_scan_filter_chain-7process started with pid [9539] + 11.04sINFOros2-9process started with pid [9618] + 11.04sINFOros2-10process started with pid [9619] + 11.04sINFOros2-11process started with pid [9620] + 11.04sINFOros2-12process started with pid [9621] + 11.04sINFOros2-13process started with pid [9622] + 11.05sINFOros2-14process started with pid [9623] + 11.05sINFOros2-15process started with pid [9624] + 11.05sINFOros2-16process started with pid [9625] + 11.05sINFOros2-17process started with pid [9626] + 11.05sINFOros2-18process started with pid [9627] + 11.05sINFOros2-19process started with pid [9630] + 11.15sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×9 + 11.15sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×9 + 11.15sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×9 + 11.15sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×9 + 11.15sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 11.15sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 11.16sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×3 + 11.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 11.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 11.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 11.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 11.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 11.17sWARNros2_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 ×3 + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570190 ms (missed cycles : 3).[0m + 11.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 11.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 11.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 11.21sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 11.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 11.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 11.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 11.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 11.32sINFOcomponent_container_mtRobot initialized[0m ×3 + 11.32sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 11.32sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 11.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 11.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 11.35sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 11.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 11.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 11.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 11.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 11.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 11.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 11.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 11.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 11.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 11.75sWARNscan_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 ×6 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 11.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 11.86sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 11.86sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 11.86sINFOmove_groupat line 594 in ./src/model.cpp ×318 + 11.87sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 11.99sINFOmove_groupat line 589 in ./src/model.cpp ×27 + 11.99sINFOmove_groupLoaded robot model in 0.363807 seconds[0m + 11.99sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 11.99sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.708752 ms (missed cycles : 6).[0m + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372797 ms (missed cycles : 4).[0m + 13.06sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 13.06sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×318 + 13.06sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 13.09sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 13.14sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×27 + 13.14sINFOwaypoint_manager_nodeLoaded robot model in 0.421923 seconds[0m + 13.14sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 13.14sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 13.54sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 13.55sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 13.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 14.07sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 14.07sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 14.07sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 14.08sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 14.08sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 14.08sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 14.09sINFOmove_groupStarting planning scene monitor[0m ×3 + 14.09sINFOmove_groupListening to '/planning_scene'[0m ×3 + 14.09sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 14.09sINFOmove_groupListening to 'collision_object'[0m ×3 + 14.09sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034075 ms (missed cycles : 2).[0m + 14.57sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 14.57sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 14.58sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 14.69sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 14.69sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 14.69sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 14.69sWARNros2_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: ×3 + 14.69sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 14.69sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 14.69sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 14.69sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×3 + 14.69sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×3 + 14.69sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×3 + 14.69sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×3 + 14.69sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×3 + 14.69sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 14.69sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×3 + 14.69sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×3 + 14.69sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×3 + 14.69sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 14.69sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 14.69sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 14.69sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 14.69sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 14.69sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 14.69sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 14.69sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 14.69sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 14.70sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 14.70sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 14.70sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 14.70sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 14.70sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 14.70sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 14.70sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 14.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 14.72sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 14.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 14.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 14.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 14.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 14.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 14.81sINFOros2_control_nodeconfigure successful[0m ×9 + 14.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 14.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 14.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 15.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 15.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.10sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 15.10sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 15.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 15.10sINFOcomponent_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 ×3 + 15.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 15.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702103 ms (missed cycles : 2).[0m + 15.16sINFOros2-9process has finished cleanly [pid 9618] + 15.28sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 15.35sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 15.36sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 15.37sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×708 + 15.37sINFOros2_control_nodeat line 594 in ./src/model.cpp ×1272 + 15.37sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×672 + 15.39sINFOros2_control_nodeat line 589 in ./src/model.cpp ×108 + 15.40sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 15.40sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 15.69sINFOobjective_server_node[2026-08-26 00:14:14.212] [moveit_pro_license] [info] + 15.69sINFOobjective_server_node************************************************* ×8 + 15.69sINFOobjective_server_node* MoveIt Pro License ×4 + 15.69sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 15.80sINFOros2_control_node[2026-08-26 00:14:14.324] [warning] No force/torque sensor configured. The VFC will ignore force references. + 15.80sINFOros2_control_node[2026-08-26 00:14:14.327] [info] Controller state will be published at 10 Hz. + 15.80sINFOros2_control_node[2026-08-26 00:14:14.329] [info] VelocityForceController 'on_configure' succeeded. + 15.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 15.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 15.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 15.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.09sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 16.09sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×318 + 16.09sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 16.12sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×27 + 16.12sINFOobjective_server_nodeLoaded robot model in 0.373189 seconds[0m + 16.12sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.12sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.15sINFOros2-16process has finished cleanly [pid 9625] + 16.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 16.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 16.17sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 16.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.18sWARNcomponent_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 ×3 + 16.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 16.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 16.24sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 16.24sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 16.24sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 16.25sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 16.25sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982544 ms (missed cycles : 3).[0m + 16.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 16.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 16.57sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 16.59sINFOros2-11process has finished cleanly [pid 9620] + 16.61sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.63sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 16.63sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×318 + 16.63sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 16.67sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×27 + 16.67sINFOcomponent_container_mtLoaded robot model in 0.45318 seconds[0m + 16.67sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 16.67sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.67sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 16.67sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 16.68sINFOobjective_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. ×3 + 16.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.70sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.70sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.95sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.03sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 17.06sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 17.06sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 17.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 17.08sINFOros2-14process has finished cleanly [pid 9623] + 17.10sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 17.10sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 17.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 17.14sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 17.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 17.15sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 17.15sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 17.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 17.18sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 17.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 17.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 17.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 17.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 17.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 17.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 17.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 17.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 17.47sINFOmove_group ×12 + 17.47sINFOmove_group******************************************************** ×6 + 17.47sINFOmove_group* MoveGroup using: ×3 + 17.47sINFOmove_group* - apply_planning_scene_service ×3 + 17.47sINFOmove_group* - clear_octomap_service ×3 + 17.47sINFOmove_group* - ExecuteTaskSolution ×3 + 17.47sINFOmove_group* - get_group_urdf ×3 + 17.47sINFOmove_group* - load_geometry_from_file ×3 + 17.47sINFOmove_group* - get_planning_scene_service ×3 + 17.47sINFOmove_group* - kinematics_service ×3 + 17.47sINFOmove_group* - save_geometry_to_file ×3 + 17.47sINFOmove_group* - GetPlanningGroups ×3 + 17.47sINFOmove_group* - SetActiveControllerService ×3 + 17.47sINFOmove_group* - URDFPlanningSceneCapability ×3 + 17.47sINFOmove_group[0m ×3 + 17.47sINFOmove_group[92mYou can start planning now![0m ×3 + 17.50sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.50sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 17.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 17.50sINFOros2-10process has finished cleanly [pid 9619] + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235957 ms (missed cycles : 2).[0m + 17.57sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 17.58sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 17.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 17.59sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 17.67sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 17.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 17.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 17.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 17.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.89sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.89sWARNobjective_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/. ×3 + 17.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 17.93sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 17.93sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 17.94sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 17.95sINFOros2-12process has finished cleanly [pid 9621] + 17.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 18.01sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 18.01sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 18.01sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 18.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 18.02sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 18.37sINFOros2-13process has finished cleanly [pid 9622] + 18.39sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 18.50sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.791699 ms (missed cycles : 7).[0m + 18.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 18.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 19.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.11sINFOros2_control_node[2026-08-26 00:14:17.640] [info] Controller state will be published at 20 Hz. + 19.11sINFOros2_control_node[2026-08-26 00:14:17.641] [info] JointVelocityController 'on_configure' succeeded. + 19.48sINFOros2-18process has finished cleanly [pid 9627] + 19.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.50sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 19.50sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 19.57sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 19.57sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633297 ms (missed cycles : 3).[0m + 20.05sINFOros2_control_node[2026-08-26 00:14:18.575] [info] Controller state will be published at 20 Hz. + 20.05sINFOros2_control_node[2026-08-26 00:14:18.576] [info] JointVelocityController 'on_configure' succeeded. + 20.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 20.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 20.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 20.44sINFOros2-19process has finished cleanly [pid 9630] + 20.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 20.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 20.54sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 20.54sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 20.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 20.54sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 20.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 20.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141296 ms (missed cycles : 2).[0m + 20.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.92sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_24c1b5g0 --params-file /tmp/launch_params_716s6t0z --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_v2xihb2q --params-file /tmp/launch_params_f_mbfpdu [0m + 20.94sINFOros2-15process has finished cleanly [pid 9624] + 21.00sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 21.00sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.50sINFOros2_control_node[2026-08-26 00:14:20.022] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.50sINFOros2_control_node[2026-08-26 00:14:20.024] [info] Controller state will be published at 10 Hz. + 21.50sINFOros2_control_node[2026-08-26 00:14:20.025] [info] VelocityForceController 'on_configure' succeeded. + 21.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 21.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255355 ms (missed cycles : 5).[0m + 21.85sINFOros2-17process has finished cleanly [pid 9626] + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.522968 ms (missed cycles : 8).[0m + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222530 ms (missed cycles : 6).[0m + 24.73sINFOros2_control_nodeMuJoCo sim: 3.79% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477272 ms (missed cycles : 3).[0m + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450283 ms (missed cycles : 4).[0m + 26.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703265.25798607 seconds. + 26.74sINFOmove_groupClearing octomap...[0m ×4 + 26.74sINFOmove_groupOctomap cleared.[0m ×4 + 26.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703265.26819754 seconds + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429126 ms (missed cycles : 6).[0m + 27.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703265.85175180 seconds. + 27.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703265.86190176 seconds + 27.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703266.41180682 seconds. + 28.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703266.56269932 seconds + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119948 ms (missed cycles : 2).[0m + 28.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703267.15951085 seconds. + 28.65sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 28.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 28.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 28.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 28.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 28.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 28.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 28.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 28.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703267.21964097 seconds + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.781468 ms (missed cycles : 7).[0m + 29.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703267.78248763 seconds. + 29.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×11 + 29.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 29.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 29.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861079 ms (missed cycles : 4).[0m + 30.34sINFOobjective_server_nodePlanning for 177 path waypoints. + 30.67sINFOros2_control_nodeReceived new action goal[0m ×17 + 30.67sINFOros2_control_nodeAccepted new action goal[0m ×17 + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346422 ms (missed cycles : 2).[0m + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578606 ms (missed cycles : 3).[0m + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608408 ms (missed cycles : 4).[0m + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582370 ms (missed cycles : 4).[0m + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.237364 ms (missed cycles : 6).[0m + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.219094 ms (missed cycles : 6).[0m + 37.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910713 ms (missed cycles : 2).[0m + 38.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149909 ms (missed cycles : 3).[0m + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587649 ms (missed cycles : 5).[0m + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.531481 ms (missed cycles : 8).[0m + 41.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.844454 ms (missed cycles : 7).[0m + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702710 ms (missed cycles : 2).[0m + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150456 ms (missed cycles : 2).[0m + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697395 ms (missed cycles : 6).[0m + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.334895 ms (missed cycles : 6).[0m + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.834293 ms (missed cycles : 6).[0m + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.577529 ms (missed cycles : 10).[0m + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073900 ms (missed cycles : 2).[0m + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568281 ms (missed cycles : 3).[0m + 51.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194562 ms (missed cycles : 2).[0m + 52.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745783 ms (missed cycles : 3).[0m + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747589 ms (missed cycles : 3).[0m + 54.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859001 ms (missed cycles : 4).[0m + 55.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449357 ms (missed cycles : 3).[0m + 56.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270311 ms (missed cycles : 2).[0m + 57.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394198 ms (missed cycles : 4).[0m + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165933 ms (missed cycles : 2).[0m + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854975 ms (missed cycles : 4).[0m + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795115 ms (missed cycles : 4).[0m + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217725 ms (missed cycles : 2).[0m + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847614 ms (missed cycles : 2).[0m + 63.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994018 ms (missed cycles : 3).[0m + 64.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092129 ms (missed cycles : 3).[0m + 65.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150439 ms (missed cycles : 5).[0m + 66.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994893 ms (missed cycles : 2).[0m + 68.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860834 ms (missed cycles : 4).[0m + 69.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014785 ms (missed cycles : 3).[0m + 70.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262109 ms (missed cycles : 6).[0m + 71.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114627 ms (missed cycles : 3).[0m + 72.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790258 ms (missed cycles : 4).[0m + 72.33sINFOros2_control_nodeGoal reached, success![0m ×15 + 72.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787703310.90816212 seconds + 72.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787703311.46293688 seconds. + 73.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101451 ms (missed cycles : 4).[0m + 74.16sINFOobjective_server_nodeFound path in 0 iterations (3.5392e-05 s). + 74.16sINFOobjective_server_nodePath shortcutter: [X____X] + 74.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 74.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980985 ms (missed cycles : 3).[0m + 75.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228800 ms (missed cycles : 5).[0m + 76.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787703314.81306601 seconds + 76.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012978 ms (missed cycles : 2).[0m + 76.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787703315.37156725 seconds. + 77.28sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). + 77.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594108 ms (missed cycles : 5).[0m + 78.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.035049 ms (missed cycles : 7).[0m + 79.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849410 ms (missed cycles : 4).[0m + 79.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 80.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019548 ms (missed cycles : 3).[0m + 81.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733568 ms (missed cycles : 2).[0m + 82.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716531 ms (missed cycles : 3).[0m + 83.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843458 ms (missed cycles : 3).[0m + 84.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903987 ms (missed cycles : 2).[0m + 84.73sINFOros2_control_nodeMuJoCo sim: 2.64% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 85.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569732 ms (missed cycles : 4).[0m + 86.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548769 ms (missed cycles : 5).[0m + 87.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958844 ms (missed cycles : 2).[0m + 88.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796834 ms (missed cycles : 4).[0m + 89.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766847 ms (missed cycles : 3).[0m + 91.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.245696 ms (missed cycles : 6).[0m + 92.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128083 ms (missed cycles : 3).[0m + 93.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195706 ms (missed cycles : 2).[0m + 94.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.183416 ms (missed cycles : 6).[0m + 95.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881492 ms (missed cycles : 3).[0m + 96.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624524 ms (missed cycles : 4).[0m + 97.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548215 ms (missed cycles : 3).[0m + 98.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835274 ms (missed cycles : 4).[0m + 99.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455566 ms (missed cycles : 5).[0m +100.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414793 ms (missed cycles : 4).[0m +101.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956981 ms (missed cycles : 3).[0m +102.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402159 ms (missed cycles : 3).[0m +103.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.185273 ms (missed cycles : 6).[0m +104.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005274 ms (missed cycles : 3).[0m +105.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024646 ms (missed cycles : 4).[0m +106.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021211 ms (missed cycles : 2).[0m +107.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796230 ms (missed cycles : 4).[0m +108.33sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +109.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359884 ms (missed cycles : 2).[0m +110.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793972 ms (missed cycles : 4).[0m +111.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765154 ms (missed cycles : 2).[0m +112.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.503727 ms (missed cycles : 6).[0m +113.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559345 ms (missed cycles : 3).[0m +114.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796877 ms (missed cycles : 3).[0m +115.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519955 ms (missed cycles : 2).[0m +116.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465276 ms (missed cycles : 5).[0m +117.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210788 ms (missed cycles : 2).[0m +118.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704623 ms (missed cycles : 3).[0m +119.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803849 ms (missed cycles : 3).[0m +120.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510237 ms (missed cycles : 5).[0m +121.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521434 ms (missed cycles : 5).[0m +122.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892670 ms (missed cycles : 2).[0m +123.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007411 ms (missed cycles : 3).[0m +124.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813353 ms (missed cycles : 2).[0m +125.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738136 ms (missed cycles : 2).[0m +126.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243021 ms (missed cycles : 4).[0m +127.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580620 ms (missed cycles : 4).[0m +128.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.982641 ms (missed cycles : 13).[0m +130.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474609 ms (missed cycles : 4).[0m +131.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319806 ms (missed cycles : 6).[0m +132.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282488 ms (missed cycles : 3).[0m +133.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.270095 ms (missed cycles : 12).[0m +133.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703372.52169132 seconds +134.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675330 ms (missed cycles : 2).[0m +134.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703373.09819746 seconds. +135.01sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 +135.03sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +135.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982096 ms (missed cycles : 3).[0m +136.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163203 ms (missed cycles : 6).[0m +137.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.753652 ms (missed cycles : 7).[0m +138.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.584899 ms (missed cycles : 8).[0m +138.70sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787703377.22833633 seconds +139.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030962 ms (missed cycles : 2).[0m +140.27sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787703378.79763603 seconds. +140.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870628 ms (missed cycles : 2).[0m +140.76sINFOobjective_server_nodeFound path in 0 iterations (1.036e-06 s). +141.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637748 ms (missed cycles : 5).[0m +142.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726582 ms (missed cycles : 2).[0m +143.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +143.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739409 ms (missed cycles : 2).[0m +144.74sINFOros2_control_nodeMuJoCo sim: 3.72% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +144.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592613 ms (missed cycles : 2).[0m +145.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255259 ms (missed cycles : 2).[0m +146.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067888 ms (missed cycles : 3).[0m +147.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288355 ms (missed cycles : 4).[0m +149.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.951260 ms (missed cycles : 5).[0m +150.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071558 ms (missed cycles : 4).[0m +151.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715208 ms (missed cycles : 2).[0m +152.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920988 ms (missed cycles : 3).[0m +153.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574810 ms (missed cycles : 4).[0m +154.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.867973 ms (missed cycles : 8).[0m +155.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575163 ms (missed cycles : 5).[0m +156.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906413 ms (missed cycles : 4).[0m +157.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994441 ms (missed cycles : 3).[0m +158.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068666 ms (missed cycles : 2).[0m +159.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358803 ms (missed cycles : 4).[0m +160.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752624 ms (missed cycles : 2).[0m +161.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058446 ms (missed cycles : 2).[0m +162.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796959 ms (missed cycles : 5).[0m +163.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063995 ms (missed cycles : 4).[0m +164.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113266 ms (missed cycles : 3).[0m +165.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858657 ms (missed cycles : 3).[0m +166.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960340 ms (missed cycles : 3).[0m +167.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210214 ms (missed cycles : 6).[0m +168.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999580 ms (missed cycles : 2).[0m +169.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001831 ms (missed cycles : 2).[0m +170.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.577552 ms (missed cycles : 8).[0m +171.48sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787703410.01010513 seconds +171.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.382043 ms (missed cycles : 6).[0m +172.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787703410.56990600 seconds. +172.47sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). +173.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578086 ms (missed cycles : 3).[0m +174.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633948 ms (missed cycles : 5).[0m +174.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +175.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.618823 ms (missed cycles : 7).[0m +176.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.862035 ms (missed cycles : 7).[0m +177.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748821 ms (missed cycles : 2).[0m +178.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898175 ms (missed cycles : 2).[0m +179.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194880 ms (missed cycles : 2).[0m +180.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.979931 ms (missed cycles : 7).[0m +181.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248776 ms (missed cycles : 3).[0m +182.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623414 ms (missed cycles : 5).[0m +183.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799888 ms (missed cycles : 3).[0m +184.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498504 ms (missed cycles : 3).[0m +185.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887907 ms (missed cycles : 4).[0m +186.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828258 ms (missed cycles : 2).[0m +187.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603084 ms (missed cycles : 3).[0m +188.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367173 ms (missed cycles : 3).[0m +189.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.373490 ms (missed cycles : 7).[0m +190.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550749 ms (missed cycles : 3).[0m +192.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246296 ms (missed cycles : 3).[0m +193.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953290 ms (missed cycles : 3).[0m +194.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644297 ms (missed cycles : 5).[0m +195.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761284 ms (missed cycles : 2).[0m +196.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371354 ms (missed cycles : 2).[0m +197.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373609 ms (missed cycles : 2).[0m +198.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196467 ms (missed cycles : 6).[0m +199.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801230 ms (missed cycles : 2).[0m +200.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125547 ms (missed cycles : 4).[0m +201.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874658 ms (missed cycles : 3).[0m +202.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444373 ms (missed cycles : 2).[0m +203.44sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +203.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188928 ms (missed cycles : 2).[0m +204.30sINFOobjective_server_nodePlanning for 52 path waypoints. +204.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882002 ms (missed cycles : 2).[0m +204.74sINFOros2_control_nodeMuJoCo sim: 4.00% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +205.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908698 ms (missed cycles : 4).[0m +206.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882084 ms (missed cycles : 3).[0m +207.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323509 ms (missed cycles : 3).[0m +208.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304661 ms (missed cycles : 2).[0m +210.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761545 ms (missed cycles : 2).[0m +211.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937246 ms (missed cycles : 3).[0m +212.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945683 ms (missed cycles : 4).[0m +213.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872510 ms (missed cycles : 2).[0m +214.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190102 ms (missed cycles : 3).[0m +215.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.993362 ms (missed cycles : 7).[0m +216.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852085 ms (missed cycles : 2).[0m +217.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.581225 ms (missed cycles : 8).[0m +218.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283162 ms (missed cycles : 2).[0m +219.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.021523 ms (missed cycles : 7).[0m +220.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468475 ms (missed cycles : 3).[0m +221.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067559 ms (missed cycles : 3).[0m +222.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303745 ms (missed cycles : 2).[0m +223.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660788 ms (missed cycles : 5).[0m +224.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958119 ms (missed cycles : 2).[0m +225.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962462 ms (missed cycles : 2).[0m +227.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212618 ms (missed cycles : 3).[0m +228.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887693 ms (missed cycles : 4).[0m +229.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.393813 ms (missed cycles : 7).[0m +230.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772891 ms (missed cycles : 3).[0m +231.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223721 ms (missed cycles : 3).[0m +232.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555770 ms (missed cycles : 2).[0m +233.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075176 ms (missed cycles : 3).[0m +234.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797790 ms (missed cycles : 2).[0m +235.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245424 ms (missed cycles : 4).[0m +236.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211734 ms (missed cycles : 7).[0m +237.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.849689 ms (missed cycles : 7).[0m +238.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171733 ms (missed cycles : 3).[0m +239.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197186 ms (missed cycles : 2).[0m +240.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815011 ms (missed cycles : 2).[0m +242.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490285 ms (missed cycles : 4).[0m +243.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.619284 ms (missed cycles : 8).[0m +244.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765860 ms (missed cycles : 5).[0m +245.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727698 ms (missed cycles : 3).[0m +246.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618969 ms (missed cycles : 2).[0m +247.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701983 ms (missed cycles : 2).[0m +248.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094740 ms (missed cycles : 5).[0m +249.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.203164 ms (missed cycles : 8).[0m +250.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113154 ms (missed cycles : 4).[0m +251.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467857 ms (missed cycles : 3).[0m +252.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973708 ms (missed cycles : 7).[0m +253.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249427 ms (missed cycles : 2).[0m +254.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490930 ms (missed cycles : 3).[0m +255.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450818 ms (missed cycles : 2).[0m +256.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799692 ms (missed cycles : 2).[0m +257.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640865 ms (missed cycles : 2).[0m +258.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745173 ms (missed cycles : 2).[0m +259.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862056 ms (missed cycles : 3).[0m +260.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918277 ms (missed cycles : 3).[0m +261.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464605 ms (missed cycles : 3).[0m +262.65sINFOros2_control_nodeGot request to cancel goal[0m ×2 +262.65sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +262.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1787703501.23096585 seconds +262.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787703501.26873946 seconds. +263.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604349 ms (missed cycles : 4).[0m +263.19sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). +264.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.539897 ms (missed cycles : 8).[0m +264.74sINFOros2_control_nodeMuJoCo sim: 5.32% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +265.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +265.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832251 ms (missed cycles : 2).[0m +266.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142695 ms (missed cycles : 2).[0m +267.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485245 ms (missed cycles : 2).[0m +268.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.888149 ms (missed cycles : 7).[0m +269.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.571877 ms (missed cycles : 8).[0m +270.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211448 ms (missed cycles : 3).[0m +271.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633719 ms (missed cycles : 2).[0m +272.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904340 ms (missed cycles : 2).[0m +273.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787703511.74933171 seconds +273.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634739 ms (missed cycles : 4).[0m +273.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787703512.31659937 seconds. +274.28sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). +274.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136482 ms (missed cycles : 3).[0m +275.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965453 ms (missed cycles : 2).[0m +276.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +276.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771369 ms (missed cycles : 2).[0m +277.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.998762 ms (missed cycles : 10).[0m +278.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177935 ms (missed cycles : 2).[0m +279.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908524 ms (missed cycles : 2).[0m +280.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759675 ms (missed cycles : 7).[0m +281.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925292 ms (missed cycles : 2).[0m +282.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700320 ms (missed cycles : 5).[0m +283.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938405 ms (missed cycles : 4).[0m +285.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414576 ms (missed cycles : 5).[0m +286.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398768 ms (missed cycles : 4).[0m +287.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733880 ms (missed cycles : 2).[0m +288.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.486637 ms (missed cycles : 8).[0m +289.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.372033 ms (missed cycles : 10).[0m +290.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.790242 ms (missed cycles : 8).[0m +291.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245260 ms (missed cycles : 2).[0m +292.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244110 ms (missed cycles : 2).[0m +293.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390615 ms (missed cycles : 3).[0m +294.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645288 ms (missed cycles : 3).[0m +295.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376561 ms (missed cycles : 2).[0m +296.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.525736 ms (missed cycles : 8).[0m +297.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937989 ms (missed cycles : 3).[0m +298.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.902993 ms (missed cycles : 7).[0m +299.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224334 ms (missed cycles : 3).[0m +300.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871562 ms (missed cycles : 4).[0m +301.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351911 ms (missed cycles : 2).[0m +302.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098433 ms (missed cycles : 3).[0m +303.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903811 ms (missed cycles : 4).[0m +304.45sINFOobjective_server_nodePlanning for 33 path waypoints. +304.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301954 ms (missed cycles : 2).[0m +305.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077367 ms (missed cycles : 3).[0m +306.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391605 ms (missed cycles : 3).[0m +307.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785639 ms (missed cycles : 3).[0m +309.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874546 ms (missed cycles : 2).[0m +310.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993328 ms (missed cycles : 4).[0m +311.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691008 ms (missed cycles : 3).[0m +312.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147013 ms (missed cycles : 3).[0m +313.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907578 ms (missed cycles : 3).[0m +314.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321145 ms (missed cycles : 2).[0m +315.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234930 ms (missed cycles : 3).[0m +316.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792378 ms (missed cycles : 4).[0m +317.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161924 ms (missed cycles : 2).[0m +318.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932837 ms (missed cycles : 4).[0m +319.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.264170 ms (missed cycles : 7).[0m +320.77sINFOobjective_server_nodePlanning for 41 path waypoints. +320.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.266300 ms (missed cycles : 6).[0m +321.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034901 ms (missed cycles : 2).[0m +322.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248113 ms (missed cycles : 2).[0m +324.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840786 ms (missed cycles : 2).[0m +324.75sINFOros2_control_nodeMuJoCo sim: 5.36% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +325.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636723 ms (missed cycles : 3).[0m +326.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117543 ms (missed cycles : 3).[0m +327.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.211861 ms (missed cycles : 6).[0m +328.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445172 ms (missed cycles : 2).[0m +329.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416762 ms (missed cycles : 2).[0m +330.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047246 ms (missed cycles : 2).[0m +331.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549547 ms (missed cycles : 4).[0m +332.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752507 ms (missed cycles : 3).[0m +333.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054140 ms (missed cycles : 4).[0m +334.54sINFOobjective_server_nodePlanning for 31 path waypoints. +334.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906842 ms (missed cycles : 4).[0m +335.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582234 ms (missed cycles : 3).[0m +336.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357788 ms (missed cycles : 2).[0m +337.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.315424 ms (missed cycles : 6).[0m +338.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479893 ms (missed cycles : 4).[0m +339.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608655 ms (missed cycles : 3).[0m +340.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007117 ms (missed cycles : 3).[0m +341.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913298 ms (missed cycles : 2).[0m +342.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568642 ms (missed cycles : 3).[0m +344.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532616 ms (missed cycles : 2).[0m +345.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689908 ms (missed cycles : 2).[0m +346.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156169 ms (missed cycles : 4).[0m +347.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690794 ms (missed cycles : 4).[0m +347.33sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703585.85676336 seconds +347.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703586.43827438 seconds. +348.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.540885 ms (missed cycles : 6).[0m +348.37sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). +349.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250725 ms (missed cycles : 2).[0m +350.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114103 ms (missed cycles : 3).[0m +351.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364906 ms (missed cycles : 3).[0m +352.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.886634 ms (missed cycles : 6).[0m +353.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.328096 ms (missed cycles : 12).[0m +354.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161465 ms (missed cycles : 4).[0m +355.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300931 ms (missed cycles : 2).[0m +356.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190788 ms (missed cycles : 2).[0m +357.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362506 ms (missed cycles : 2).[0m +358.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105103 ms (missed cycles : 3).[0m +359.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274583 ms (missed cycles : 2).[0m +361.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256309 ms (missed cycles : 3).[0m +362.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368055 ms (missed cycles : 6).[0m +363.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.081078 ms (missed cycles : 7).[0m +364.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778518 ms (missed cycles : 2).[0m +365.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735409 ms (missed cycles : 2).[0m +366.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.894333 ms (missed cycles : 7).[0m +367.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191156 ms (missed cycles : 3).[0m +368.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873309 ms (missed cycles : 2).[0m +369.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.957538 ms (missed cycles : 7).[0m +370.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191405 ms (missed cycles : 2).[0m +371.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687964 ms (missed cycles : 3).[0m +372.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080864 ms (missed cycles : 5).[0m +373.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127610 ms (missed cycles : 2).[0m +374.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329010 ms (missed cycles : 3).[0m +375.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675804 ms (missed cycles : 2).[0m +376.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947648 ms (missed cycles : 4).[0m +377.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909236 ms (missed cycles : 3).[0m +378.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732497 ms (missed cycles : 2).[0m +379.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812312 ms (missed cycles : 3).[0m +380.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967375 ms (missed cycles : 2).[0m +381.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.689228 ms (missed cycles : 7).[0m +383.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368359 ms (missed cycles : 4).[0m +384.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.900619 ms (missed cycles : 7).[0m +384.75sINFOros2_control_nodeMuJoCo sim: 5.35% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +385.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796073 ms (missed cycles : 4).[0m +386.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.733614 ms (missed cycles : 7).[0m +387.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717380 ms (missed cycles : 2).[0m +388.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018154 ms (missed cycles : 2).[0m +389.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245803 ms (missed cycles : 3).[0m +390.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302705 ms (missed cycles : 2).[0m +391.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799757 ms (missed cycles : 3).[0m +392.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201673 ms (missed cycles : 3).[0m +393.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856297 ms (missed cycles : 2).[0m +394.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342757 ms (missed cycles : 3).[0m +395.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028181 ms (missed cycles : 4).[0m +396.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411034 ms (missed cycles : 3).[0m +397.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980884 ms (missed cycles : 4).[0m +398.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.962574 ms (missed cycles : 7).[0m +400.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951274 ms (missed cycles : 2).[0m +401.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.294287 ms (missed cycles : 6).[0m +402.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418424 ms (missed cycles : 2).[0m +403.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787703641.70839739 seconds +403.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121703 ms (missed cycles : 2).[0m +403.76sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787703642.28318858 seconds. +404.18sINFOobjective_server_nodeFound path in 0 iterations (1.179e-06 s). +404.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593018 ms (missed cycles : 5).[0m +405.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655671 ms (missed cycles : 5).[0m +406.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074312 ms (missed cycles : 3).[0m +407.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694784 ms (missed cycles : 2).[0m +408.53sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). +408.58sINFOobjective_server_nodePath shortcutter: [X__________________X] +408.62sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). +408.68sINFOobjective_server_nodePath shortcutter: [X____________________X] +408.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179274 ms (missed cycles : 2).[0m +408.79sINFOobjective_server_nodePath shortcutter: [X_________________________X] +408.83sINFOobjective_server_nodeFound path in 0 iterations (2.029e-06 s). +409.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +409.06sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). +409.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] +409.33sINFOobjective_server_nodeFound path in 29 iterations (0.043067 s). +409.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] +409.71sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). +409.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290422 ms (missed cycles : 2).[0m +410.18sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +410.24sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). +410.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009934 ms (missed cycles : 2).[0m +410.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X] +411.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +411.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709054 ms (missed cycles : 5).[0m +412.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591436 ms (missed cycles : 2).[0m +413.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766891 ms (missed cycles : 6).[0m +415.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.465687 ms (missed cycles : 6).[0m +416.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917703 ms (missed cycles : 4).[0m +417.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787703655.53125548 seconds +417.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001760 ms (missed cycles : 4).[0m +417.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787703656.13077593 seconds. +418.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787703656.66089559 seconds +418.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393072 ms (missed cycles : 6).[0m +418.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787703657.23152661 seconds. +419.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.060721 ms (missed cycles : 4).[0m +419.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787703657.85164380 seconds +419.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +420.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.741931 ms (missed cycles : 5).[0m +421.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333662 ms (missed cycles : 2).[0m +422.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438709 ms (missed cycles : 6).[0m +423.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697659 ms (missed cycles : 3).[0m +424.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.719215 ms (missed cycles : 5).[0m +425.41sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.41sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.41sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.42sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.42sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.42sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.43sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.43sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.44sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.44sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.44sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.44sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] +425.47sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.47sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.47sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.48sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.49sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.49sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] +425.52sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.53sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.53sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.54sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.55sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +425.55sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] +425.57sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] +425.59sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] +425.61sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +425.63sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +425.66sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +425.69sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +425.72sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +425.74sINFOweb_video_server-32process has finished cleanly [pid 9700] +425.76sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +425.78sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9699] +425.78sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +425.79sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +425.82sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +425.86sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +425.89sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +425.90sERRORmove_group-20process has died [pid 9647, 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_u56ag3xb --params-file /tmp/launch_params_61nmro3y --params-file /tmp/launch_params_qb37z2fn --params-file /tmp/launch_params_qvlsn45i --params-file /tmp/launch_params_guuln9pv --params-file /tmp/launch_params_0yxyiz2_ --params-file /tmp/launch_params_6c7qjeoa --params-file /tmp/launch_params_6y9eisnc --params-file /tmp/launch_params_m1svyqvv']. +425.90sERRORui_teleop_bridge-29process has died [pid 9695, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params__701ep0b']. +425.93sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +425.93sINFOcomponent_container_mt-27process has finished cleanly [pid 9693] +425.93sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +425.93sINFOexecute_objective_bridge-28process has finished cleanly [pid 9694] +425.93sERRORobjective_server_node_main-25process has died [pid 9691, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_xxclflii --params-file /tmp/launch_params_b8o80ley --params-file /tmp/launch_params_irkp7gf7 --params-file /tmp/launch_params_nxyrj13g --params-file /tmp/launch_params_y22x7qbm --params-file /tmp/launch_params_592b833w']. +425.96sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +425.99sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +426.01sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +426.03sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +426.05sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +426.05sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +426.05sERRORui_teleop_bridgeTraceback (most recent call last): +426.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +426.05sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.1', 'console_scripts', 'ui_teleop_bridge')()) +426.05sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +426.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main +426.05sINFOui_teleop_bridgerclpy.shutdown() +426.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +426.05sINFOui_teleop_bridge_shutdown(context=context) +426.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +426.05sINFOui_teleop_bridgecontext.shutdown() +426.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +426.05sINFOui_teleop_bridgeself.__context.shutdown() +426.05sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +426.05sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +426.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480386 ms (missed cycles : 2).[0m +426.06sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +426.06sINFOcomponent_container_mtStopping planning scene monitor[0m +426.06sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +426.06sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +426.06sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system +426.06sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +426.06sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +426.06sINFOobjective_server_node[2026-08-26 00:21:04.332] [moveit_pro_license] [critical] +426.06sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +426.07sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +426.07sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +426.07sERRORmove_groupwhat(): context cannot be slept with because it's invalid +426.07sERRORmove_groupStack trace (most recent call last) in thread 10221: +426.07sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +426.07sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24daf6fa63, in __clone +426.07sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24daee2aa3, in +426.07sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24db172db3, in +426.07sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.1", at 0x7f24db7c91a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +426.07sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24db4e74d0, in rclcpp::Rate::sleep() +426.07sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24db43aa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +426.07sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f24db3ffa71, in +426.07sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24db141390, in __cxa_throw +426.07sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24db12ba54, in std::terminate() +426.07sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24db1410d9, in +426.07sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f24db12bff4, in +426.07sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24dae6e8fe, in abort +426.07sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24dae8b27d, in raise +426.07sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f24daee4b2c, in pthread_kill +426.07sERRORmove_groupAborted (Signal sent by tkill() 9647 0) +426.07sERRORobjective_server_nodeStack trace (most recent call last): +426.07sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +426.07sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55bb310d86a4, in _start +426.07sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67b538b28a, in __libc_start_main +426.07sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67b538b1d0, in +426.07sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67b53a8bbd, in exit +426.07sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67b53a8a75, in +426.07sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f67b58778f5, in spdlog::details::registry::~registry() +426.07sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55bb310d8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +426.07sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55bb310df315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +426.07sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55bb310de5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +426.07sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55bb310dab7b, in spdlog_ros::RosSink::~RosSink() +426.07sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55bb310d8d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +426.07sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67b5f35454, in rclcpp::Node::~Node() +426.07sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67b5ef0515, in +426.07sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67b5f33d20, in +426.07sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67b5f33c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +426.07sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67b5ef05d9, in +426.07sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f67b5ef5161, in rclcpp::CallbackGroup::~CallbackGroup() +426.07sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f6765e67bc0]) +426.07sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +426.07sINFOros2_control_nodeShutdown request received....[0m +426.07sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +426.07sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +426.07sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +426.07sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +426.07sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +426.07sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +426.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +426.07sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +426.07sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +426.07sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +426.07sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +426.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +426.07sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +426.07sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +426.07sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +426.07sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +426.07sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +426.07sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +426.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +426.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +426.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +426.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +426.07sINFOros2_control_nodeShutting down the controller manager.[0m +426.07sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +426.08sINFOros2_control_nodeAsync messages lost 0[0m ×2 +426.08sINFOros2_control_nodepublish_async_failures_ 1[0m +426.08sINFOros2_control_nodepublish_async_failures_ 0[0m +426.08sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +426.08sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +426.08sERRORodom_qos_relay.pyTraceback (most recent call last): +426.08sINFOodom_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> +426.08sINFOodom_qos_relay.pymain() +426.08sINFOodom_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 +426.08sINFOodom_qos_relay.pyrclpy.spin(node) +426.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +426.08sINFOodom_qos_relay.pyexecutor.spin_once() +426.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +426.08sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +426.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +426.08sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +426.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +426.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +426.08sINFOodom_qos_relay.pyreturn next(self._cb_iter) +426.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +426.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +426.08sINFOodom_qos_relay.pyraise ExternalShutdownException() +426.08sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +426.09sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×3 +426.09sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +426.75sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9690] +426.78sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9650] +426.85sINFOwaypoint_manager_node-22process has finished cleanly [pid 9649] +426.85sINFOparameter_manager_node-21process has finished cleanly [pid 9648] +426.86sINFOcomponent_container_mt-26process has finished cleanly [pid 9692] +426.93sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9539] +426.97sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9538] +427.03sINFOstatic_transform_publisher-4process has finished cleanly [pid 9536] +427.05sINFOstatic_transform_publisher-3process has finished cleanly [pid 9535] +427.07sERRORodom_qos_relay.py-5process has died [pid 9537, 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']. +427.07sINFOstatic_transform_publisher-2process has finished cleanly [pid 9534] +427.29sERRORcomponent_container_isolated-1process has died [pid 9533, exit code -6, 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_e059eycm --params-file /tmp/launch_params_zrci36tj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +428.42sINFOros2_control_node-8process has finished cleanly [pid 9540] +428.55sINFOweb_bridge-30process has finished cleanly [pid 9697] +428.55sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system +437.81sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-26-00-21-12-883818-67f1e72d153b-10554 ×2 +448.48sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' +448.48sINFOstatic_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' +448.48sINFOstatic_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' +448.55sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +448.57sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +448.57sINFOcontroller_managerupdate rate is 600 Hz +448.58sINFOcontroller_managerOverruns handling is : enabled +448.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +448.58sWARNcontroller_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. +448.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169674 ms (missed cycles : 3). +448.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +448.76sINFOros2_control_node-8process started with pid [10611] ×2 +448.76sINFOmove_group-20process started with pid [10700] ×2 +448.77sINFOparameter_manager_node-21process started with pid [10701] ×2 +448.77sINFOwaypoint_manager_node-22process started with pid [10702] ×2 +448.77sINFOmove_joint_resampler_node-23process started with pid [10703] ×2 +448.77sINFOmove_end_effector_resampler_node-24process started with pid [10761] ×2 +448.77sINFOobjective_server_node_main-25process started with pid [10762] ×2 +448.77sINFOcomponent_container_mt-26process started with pid [10763] ×2 +448.77sINFOcomponent_container_mt-27process started with pid [10764] ×2 +448.77sINFOexecute_objective_bridge-28process started with pid [10765] ×2 +448.78sINFOui_teleop_bridge-29process started with pid [10766] ×2 +448.78sINFOweb_bridge-30process started with pid [10767] ×2 +448.78sINFOtf2_web_republisher_node-31process started with pid [10768] ×2 +448.78sINFOweb_video_server-32process started with pid [10769] ×2 +448.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +448.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +448.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +448.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +448.80sINFOcomponent_container_isolated-1process started with pid [10604] ×2 +448.80sINFOstatic_transform_publisher-2process started with pid [10605] ×2 +448.80sINFOstatic_transform_publisher-3process started with pid [10606] ×2 +448.81sINFOstatic_transform_publisher-4process started with pid [10607] ×2 +448.81sINFOodom_qos_relay.py-5process started with pid [10608] ×2 +448.81sINFOscan_to_scan_filter_chain-6process started with pid [10609] ×2 +448.81sINFOscan_to_scan_filter_chain-7process started with pid [10610] ×2 +448.82sINFOros2-9process started with pid [10689] ×2 +448.82sINFOros2-10process started with pid [10690] ×2 +448.82sINFOros2-11process started with pid [10691] ×2 +448.82sINFOros2-12process started with pid [10692] ×2 +448.83sINFOros2-13process started with pid [10693] ×2 +448.83sINFOros2-14process started with pid [10694] ×2 +448.83sINFOros2-15process started with pid [10695] ×2 +448.83sINFOros2-16process started with pid [10696] ×2 +448.83sINFOros2-17process started with pid [10697] ×2 +448.84sINFOmap_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. +448.84sINFOros2-18process started with pid [10698] ×2 +448.84sINFOros2-19process started with pid [10699] ×2 +448.84sINFOmap_serverCreating +448.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +448.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +448.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +448.89sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +448.93sINFOcontroller_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. +448.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169674 ms (missed cycles : 3).[0m ×2 +448.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +448.96sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +448.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +448.99sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +449.02sINFOcontroller_serverCreating controller server +449.07sINFOrobot_state_publisherRobot initialized +449.08sINFOlocal_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. +449.09sINFOcontroller_managerReceived robot description from topic. +449.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +449.09sINFOlocal_costmap.local_costmapCreating Costmap +449.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +449.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +449.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +449.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +449.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +449.14sINFOlifecycle_manager_localizationCreating +449.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +449.15sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +449.16sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +449.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +449.16sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +449.16sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +449.16sINFOmap_serverConfiguring +449.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +449.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +449.22sINFOsmoother_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. +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +449.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +449.23sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +449.23sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +449.28sINFOsmoother_serverCreating smoother server +449.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +449.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +449.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +449.33sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +449.33sINFOmap_serverActivating +449.34sINFOmap_serverCreating bond (map_server) to lifecycle manager. +449.34sINFOplanner_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. +449.37sINFOplanner_serverCreating +449.41sINFOglobal_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. +449.41sINFOglobal_costmap.global_costmapCreating Costmap +449.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +449.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +449.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +449.45sINFOlifecycle_manager_localizationServer map_server connected with bond. +449.45sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +449.45sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +449.47sINFObehavior_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. +449.49sWARNlaser_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. +449.49sWARNlaser_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. +449.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +449.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +449.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +449.57sINFObt_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. +449.59sINFObt_navigatorCreating +449.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +449.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +449.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +449.63sINFOwaypoint_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. +449.63sINFOwaypoint_followerCreating +449.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +449.65sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.615193 seconds +449.65sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +449.65sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +449.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +449.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +449.71sINFOvelocity_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. +449.75sINFOlifecycle_manager_navigationCreating +449.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761620 ms (missed cycles : 6). +449.76sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +449.79sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +449.79sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +449.80sINFOmove_groupLoaded robot model in 0.615193 seconds[0m ×2 +449.80sINFOcontroller_serverConfiguring controller interface +449.80sINFOcontroller_servergetting progress checker plugins.. +449.80sINFOcontroller_servergetting goal checker plugins.. +449.80sINFOcontroller_serverController frequency set to 20.0000Hz +449.80sINFOlocal_costmap.local_costmapConfiguring +449.80sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +449.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761620 ms (missed cycles : 6).[0m ×2 +449.83sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +449.86sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +449.86sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +449.87sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +449.90sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +449.91sINFOcontroller_serverController Server has progress_checker progress checkers available. +449.91sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +449.92sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +449.92sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +449.95sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +449.96sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +449.96sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +449.98sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +449.98sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +449.98sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +449.98sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +449.99sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +449.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +450.01sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +450.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +450.01sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +450.01sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +450.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +450.01sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +450.01sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +450.02sINFOcontroller_serverOptimizer reset ×2 +450.04sINFOcontroller_serverController Server has FollowPath controllers available. +450.05sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +450.05sINFOsmoother_serverConfiguring smoother server +450.06sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +450.07sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +450.08sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +450.08sINFOplanner_serverConfiguring +450.08sINFOglobal_costmap.global_costmapConfiguring +450.08sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +450.09sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +450.09sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +450.09sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +450.10sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +450.14sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +450.14sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +450.14sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +450.19sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +450.20sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +450.20sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +450.20sINFOplanner_serverPlanner Server has GridBased planners available. +450.21sINFOwaypoint_manager_nodeLoaded robot model in 0.440692 seconds[0m ×2 +450.22sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +450.23sINFObehavior_serverConfiguring +450.23sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +450.23sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +450.23sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +450.24sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +450.27sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +450.28sINFObehavior_serverConfiguring spin +450.30sINFObehavior_serverConfiguring backup +450.31sINFObehavior_serverConfiguring drive_on_heading +450.32sINFObehavior_serverConfiguring assisted_teleop +450.34sINFObehavior_serverConfiguring wait +450.35sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +450.35sINFObt_navigatorConfiguring +450.36sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +450.38sWARNbt_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 +450.60sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +450.69sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +450.74sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +450.74sINFOwaypoint_followerConfiguring +450.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4). +450.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301029 ms (missed cycles : 4).[0m ×2 +450.81sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +450.83sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +450.83sINFOvelocity_smootherConfiguring velocity smoother +450.84sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +450.84sINFOcontroller_serverActivating +450.84sINFOlocal_costmap.local_costmapActivating +450.84sINFOlocal_costmap.local_costmapChecking transform +450.84sINFOlocal_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. ×14 +450.88sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +450.88sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +451.35sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +451.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098403 ms (missed cycles : 2). +451.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098403 ms (missed cycles : 2).[0m ×2 +451.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +451.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +451.90sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +451.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +451.91sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +451.91sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +451.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +451.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +451.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +451.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +451.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +452.24sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +452.24sINFOcontroller_managerActivating component 'ur_mujoco_control'. +452.24sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +452.24sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +452.27sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +452.27sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +452.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +452.35sINFOcontroller_managerLoading controller 'vacuum_gripper' +452.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +452.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +452.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +452.39sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +452.39sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +452.39sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +452.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +452.40sINFOcontroller_managerSuccessfully switched controllers! ×7 +452.40sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +452.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +452.75sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +452.75sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +452.75sINFOcontroller_managerLoading controller 'velocity_force_controller' +452.77sINFOros2-13process has finished cleanly [pid 10693] ×2 +452.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +452.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +452.78sINFOstreaming_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) +452.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +452.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +452.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +452.93sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +452.95sINFOobjective_server_node[2026-08-26 00:21:31.475] [moveit_pro_license] [info] ×2 +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +453.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +453.15sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +453.18sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +453.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047669 ms (missed cycles : 4). +453.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047669 ms (missed cycles : 4).[0m ×2 +453.32sINFOobjective_server_nodeLoaded robot model in 0.308182 seconds[0m ×2 +453.40sINFOros2_control_node[2026-08-26 00:21:31.927] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +453.40sINFOros2_control_node[2026-08-26 00:21:31.930] [info] Controller state will be published at 10 Hz. ×2 +453.40sINFOros2_control_node[2026-08-26 00:21:31.931] [info] VelocityForceController 'on_configure' succeeded. ×2 +453.42sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +453.42sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +453.78sINFOros2-16process has finished cleanly [pid 10696] ×2 +453.78sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +453.78sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +453.87sINFOcomponent_container_mtLoaded robot model in 0.418428 seconds[0m ×2 +453.92sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +453.92sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +453.98sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +454.00sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +454.13sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +454.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.801903 ms (missed cycles : 8). +454.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.801903 ms (missed cycles : 8).[0m ×2 +454.46sINFOros2_control_node[2026-08-26 00:21:32.990] [info] Controller state will be published at 20 Hz. ×2 +454.47sINFOros2_control_node[2026-08-26 00:21:32.991] [info] JointVelocityController 'on_configure' succeeded. ×2 +454.82sINFOros2-19process has finished cleanly [pid 10699] ×2 +454.82sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +454.82sINFOcontroller_managerLoading controller 'joint_velocity_controller' +454.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +454.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +454.85sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +454.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +454.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +454.91sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +454.91sINFOmove_groupMoveGroup debug mode is ON +455.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298970 ms (missed cycles : 2). +455.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298970 ms (missed cycles : 2).[0m ×2 +455.30sINFOros2_control_node[2026-08-26 00:21:33.826] [info] Controller state will be published at 20 Hz. ×2 +455.31sINFOros2_control_node[2026-08-26 00:21:33.835] [info] JointVelocityController 'on_configure' succeeded. ×2 +455.36sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+455.63sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +455.63sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +455.63sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +455.63sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +455.66sINFOros2-18process has finished cleanly [pid 10698] ×2 +455.70sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +455.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +455.71sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +455.71sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +456.05sINFOros2-10process has finished cleanly [pid 10690] ×2 +456.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +456.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +456.06sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +456.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +456.12sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +456.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +456.13sINFOplatform_velocity_controller_nav2configure successful +456.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351976 ms (missed cycles : 3). +456.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351976 ms (missed cycles : 3).[0m ×2 +456.55sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +456.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +456.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +456.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +456.57sINFOros2-14process has finished cleanly [pid 10694] ×2 +456.66sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +456.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +456.66sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +456.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +456.66sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +456.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +456.67sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +457.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +457.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +457.05sINFOros2-15process has finished cleanly [pid 10695] ×2 +457.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +457.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +457.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +457.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +457.11sINFOforce_torque_sensor_broadcasterconfigure successful +457.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +457.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +457.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544181 ms (missed cycles : 2). +457.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544181 ms (missed cycles : 2).[0m ×2 +457.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +457.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +457.45sINFOros2-9process has finished cleanly [pid 10689] ×2 +457.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +457.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +457.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +457.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +457.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +457.52sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +457.52sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +457.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +457.53sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +457.84sINFOlocal_costmap.local_costmapstart +457.88sINFOros2-11process has finished cleanly [pid 10691] ×2 +457.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +457.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +457.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +457.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +457.94sWARNcontroller_serverParameter controller_server.verbose not found +457.95sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +457.95sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +457.97sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +457.97sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +458.06sINFOlifecycle_manager_navigationServer controller_server connected with bond. +458.06sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +458.06sINFOsmoother_serverActivating +458.06sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +458.16sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +458.16sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +458.16sINFOplanner_serverActivating +458.16sINFOglobal_costmap.global_costmapActivating +458.16sINFOglobal_costmap.global_costmapChecking transform +458.16sINFOglobal_costmap.global_costmapstart +458.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043619 ms (missed cycles : 2). +458.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043619 ms (missed cycles : 2).[0m ×2 +458.43sINFOros2_control_node[2026-08-26 00:21:36.957] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +458.43sINFOros2_control_node[2026-08-26 00:21:36.959] [info] Controller state will be published at 10 Hz. ×2 +458.43sINFOros2_control_node[2026-08-26 00:21:36.960] [info] VelocityForceController 'on_configure' succeeded. ×2 +458.80sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +458.80sINFOcontroller_managerLoading controller 'platform_velocity_controller' +458.80sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw +458.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o34_nxk4 --params-file /tmp/launch_params_qob4g_gh --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_475xtja9 --params-file /tmp/launch_params_yhypdldw [0m ×2 +458.82sINFOros2-17process has finished cleanly [pid 10697] ×2 +458.87sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +458.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +458.88sINFOplatform_velocity_controllerconfigure successful +458.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +458.89sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +459.21sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +459.22sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +459.23sINFOros2-12process has finished cleanly [pid 10692] ×2 +459.32sINFOlifecycle_manager_navigationServer planner_server connected with bond. +459.32sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +459.32sINFObehavior_serverActivating +459.32sINFObehavior_serverActivating spin +459.32sINFObehavior_serverActivating backup +459.32sINFObehavior_serverActivating drive_on_heading +459.32sINFObehavior_serverActivating assisted_teleop +459.32sINFObehavior_serverActivating wait +459.32sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +459.43sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +459.43sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +459.43sINFObt_navigatorActivating +459.48sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +459.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004861 ms (missed cycles : 2). +459.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004861 ms (missed cycles : 2).[0m ×2 +459.59sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +459.59sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +459.59sINFOwaypoint_followerActivating +459.59sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +459.70sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +459.70sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +459.70sINFOvelocity_smootherActivating +459.70sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +459.81sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +459.81sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +459.81sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +460.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). +460.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 +461.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). +461.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 +462.28sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +462.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). +462.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 +463.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). +463.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 +464.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 +464.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +464.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +464.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 +464.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). +464.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 +464.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 +464.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 +465.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 +465.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 +465.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). +465.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 +466.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 +466.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +466.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +466.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +466.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +466.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +466.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +466.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.8s | 3 errors · 232 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919694 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919694 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744235 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744235 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362787 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362787 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742136 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742136 ms (missed cycles : 2).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGot request to cancel goal + 3.76sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.76sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.76sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787703913.85639358 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 3.77) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.90sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.69) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046181 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046181 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787703914.40864849 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641701 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641701 ms (missed cycles : 6).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156284 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156284 ms (missed cycles : 4).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal ×4 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 6.63sINFOros2_control_nodeReceived new action goal[0m ×8 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×8 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998705 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998705 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842445 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842445 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.840836 ms (missed cycles : 6). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.840836 ms (missed cycles : 6).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552726 ms (missed cycles : 4). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552726 ms (missed cycles : 4).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193080 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193080 ms (missed cycles : 2).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281836 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281836 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445931 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445931 ms (missed cycles : 2).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706083 ms (missed cycles : 5). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706083 ms (missed cycles : 5).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.207351 ms (missed cycles : 7). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.207351 ms (missed cycles : 7).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120192 ms (missed cycles : 3). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120192 ms (missed cycles : 3).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.917279 ms (missed cycles : 5). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.917279 ms (missed cycles : 5).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.297796 ms (missed cycles : 7). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.297796 ms (missed cycles : 7).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653102 ms (missed cycles : 4). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653102 ms (missed cycles : 4).[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131269 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131269 ms (missed cycles : 2).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962381 ms (missed cycles : 2). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962381 ms (missed cycles : 2).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967502 ms (missed cycles : 2). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967502 ms (missed cycles : 2).[0m ×2 + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435935 ms (missed cycles : 3). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435935 ms (missed cycles : 3).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130292 ms (missed cycles : 4). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130292 ms (missed cycles : 4).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348893 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348893 ms (missed cycles : 3).[0m ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965663 ms (missed cycles : 3). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965663 ms (missed cycles : 3).[0m ×2 + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800402 ms (missed cycles : 2). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800402 ms (missed cycles : 2).[0m ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.102497 ms (missed cycles : 7). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.102497 ms (missed cycles : 7).[0m ×2 + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580141 ms (missed cycles : 6). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580141 ms (missed cycles : 6).[0m ×2 + 30.75sINFOros2_control_nodeMuJoCo sim: 4.25% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245555 ms (missed cycles : 3). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245555 ms (missed cycles : 3).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139614 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139614 ms (missed cycles : 2).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264303 ms (missed cycles : 4). + 33.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264303 ms (missed cycles : 4).[0m ×2 + 33.92sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.93sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.38sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272078 ms (missed cycles : 2). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272078 ms (missed cycles : 2).[0m ×2 + 35.16sINFOobjective_server_nodePlanning for 35 path waypoints. ×6 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.553802 ms (missed cycles : 7). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.553802 ms (missed cycles : 7).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421370 ms (missed cycles : 3). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421370 ms (missed cycles : 3).[0m ×2 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988881 ms (missed cycles : 5). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988881 ms (missed cycles : 5).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217081 ms (missed cycles : 2). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217081 ms (missed cycles : 2).[0m ×2 + 39.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060881 ms (missed cycles : 3). + 39.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060881 ms (missed cycles : 3).[0m ×2 + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.310588 ms (missed cycles : 7). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.310588 ms (missed cycles : 7).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893133 ms (missed cycles : 2). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893133 ms (missed cycles : 2).[0m ×2 + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359681 ms (missed cycles : 4). + 42.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359681 ms (missed cycles : 4).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693951 ms (missed cycles : 3). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693951 ms (missed cycles : 3).[0m ×2 + 44.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598445 ms (missed cycles : 3). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598445 ms (missed cycles : 3).[0m ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907401 ms (missed cycles : 5). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907401 ms (missed cycles : 5).[0m ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220797 ms (missed cycles : 2). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220797 ms (missed cycles : 2).[0m ×2 + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180630 ms (missed cycles : 6). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180630 ms (missed cycles : 6).[0m ×2 + 49.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337267 ms (missed cycles : 4). + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337267 ms (missed cycles : 4).[0m ×2 + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866176 ms (missed cycles : 2). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866176 ms (missed cycles : 2).[0m ×2 + 51.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873809 ms (missed cycles : 3). + 51.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873809 ms (missed cycles : 3).[0m ×2 + 52.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939225 ms (missed cycles : 5). + 52.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939225 ms (missed cycles : 5).[0m ×2 + 53.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847893 ms (missed cycles : 2). + 53.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847893 ms (missed cycles : 2).[0m ×2 + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970617 ms (missed cycles : 6). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970617 ms (missed cycles : 6).[0m ×2 + 55.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496094 ms (missed cycles : 3). + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496094 ms (missed cycles : 3).[0m ×2 + 56.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703533 ms (missed cycles : 3). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703533 ms (missed cycles : 3).[0m ×2 + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908523 ms (missed cycles : 5). + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908523 ms (missed cycles : 5).[0m ×2 + 58.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077583 ms (missed cycles : 3). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077583 ms (missed cycles : 3).[0m ×2 + 59.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838791 ms (missed cycles : 3). + 59.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838791 ms (missed cycles : 3).[0m ×2 + 60.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716774 ms (missed cycles : 3). + 60.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716774 ms (missed cycles : 3).[0m ×2 + 61.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062602 ms (missed cycles : 4). + 61.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062602 ms (missed cycles : 4).[0m ×2 + 62.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330755 ms (missed cycles : 2). + 62.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330755 ms (missed cycles : 2).[0m ×2 + 63.85sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 63.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732384 ms (missed cycles : 2). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732384 ms (missed cycles : 2).[0m ×2 + 64.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646529 ms (missed cycles : 4). + 64.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646529 ms (missed cycles : 4).[0m ×2 + 66.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548851 ms (missed cycles : 6). + 66.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548851 ms (missed cycles : 6).[0m ×2 + 67.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024650 ms (missed cycles : 2). + 67.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024650 ms (missed cycles : 2).[0m ×2 + 68.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591281 ms (missed cycles : 3). + 68.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591281 ms (missed cycles : 3).[0m ×2 + 69.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376110 ms (missed cycles : 5). + 69.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376110 ms (missed cycles : 5).[0m ×2 + 70.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237755 ms (missed cycles : 4). + 70.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237755 ms (missed cycles : 4).[0m ×2 + 71.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.345383 ms (missed cycles : 7). + 71.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.345383 ms (missed cycles : 7).[0m ×2 + 72.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849571 ms (missed cycles : 2). + 72.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849571 ms (missed cycles : 2).[0m ×2 + 73.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 73.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 74.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 74.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 75.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 75.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 76.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 76.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 76.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 76.70sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 76.70sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 77.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 77.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 77.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 77.77sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 78.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 78.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.8s | 190 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787703748.39280581 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787703748.94368362 seconds. ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (2.9316e-05 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.75sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.75sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.75sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.75sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143891 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143891 ms (missed cycles : 6).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787703752.22383714 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459863 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459863 ms (missed cycles : 6).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787703752.79268003 seconds. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898701 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898701 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731804 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731804 ms (missed cycles : 6).[0m ×2 + 7.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096773 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096773 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606374 ms (missed cycles : 5). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606374 ms (missed cycles : 5).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088898 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088898 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388021 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388021 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105849 ms (missed cycles : 4). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105849 ms (missed cycles : 4).[0m ×2 + 12.44sINFOros2_control_nodeMuJoCo sim: 2.34% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089546 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089546 ms (missed cycles : 2).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567954 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567954 ms (missed cycles : 3).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988244 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988244 ms (missed cycles : 2).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916218 ms (missed cycles : 4). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916218 ms (missed cycles : 4).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374967 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374967 ms (missed cycles : 3).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006635 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006635 ms (missed cycles : 2).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621990 ms (missed cycles : 6). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621990 ms (missed cycles : 6).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.428209 ms (missed cycles : 7). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.428209 ms (missed cycles : 7).[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700360 ms (missed cycles : 2). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700360 ms (missed cycles : 2).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180140 ms (missed cycles : 2). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180140 ms (missed cycles : 2).[0m ×2 + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259739 ms (missed cycles : 4). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259739 ms (missed cycles : 4).[0m ×2 + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706784 ms (missed cycles : 2). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706784 ms (missed cycles : 2).[0m ×2 + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187427 ms (missed cycles : 2). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187427 ms (missed cycles : 2).[0m ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184819 ms (missed cycles : 2). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184819 ms (missed cycles : 2).[0m ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919343 ms (missed cycles : 2). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919343 ms (missed cycles : 2).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132702 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132702 ms (missed cycles : 2).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180971 ms (missed cycles : 3). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180971 ms (missed cycles : 3).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145719 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145719 ms (missed cycles : 2).[0m ×2 + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325409 ms (missed cycles : 3). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325409 ms (missed cycles : 3).[0m ×2 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706247 ms (missed cycles : 4). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706247 ms (missed cycles : 4).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725367 ms (missed cycles : 3). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725367 ms (missed cycles : 3).[0m ×2 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601936 ms (missed cycles : 3). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601936 ms (missed cycles : 3).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261544 ms (missed cycles : 4). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261544 ms (missed cycles : 4).[0m ×2 + 35.93sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.356842 ms (missed cycles : 6). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.356842 ms (missed cycles : 6).[0m ×2 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295801 ms (missed cycles : 7). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295801 ms (missed cycles : 7).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981981 ms (missed cycles : 3). + 38.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981981 ms (missed cycles : 3).[0m ×2 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082164 ms (missed cycles : 3). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082164 ms (missed cycles : 3).[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873622 ms (missed cycles : 2). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873622 ms (missed cycles : 2).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947950 ms (missed cycles : 2). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947950 ms (missed cycles : 2).[0m ×2 + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157288 ms (missed cycles : 2). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157288 ms (missed cycles : 2).[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342235 ms (missed cycles : 4). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342235 ms (missed cycles : 4).[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329690 ms (missed cycles : 2). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329690 ms (missed cycles : 2).[0m ×2 + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602988 ms (missed cycles : 3). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602988 ms (missed cycles : 3).[0m ×2 + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248428 ms (missed cycles : 4). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248428 ms (missed cycles : 4).[0m ×2 + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440010 ms (missed cycles : 3). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440010 ms (missed cycles : 3).[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544012 ms (missed cycles : 4). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544012 ms (missed cycles : 4).[0m ×2 + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962850 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962850 ms (missed cycles : 2).[0m ×2 + 51.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470408 ms (missed cycles : 3). + 51.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470408 ms (missed cycles : 3).[0m ×2 + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725622 ms (missed cycles : 4). + 52.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725622 ms (missed cycles : 4).[0m ×2 + 53.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.196937 ms (missed cycles : 7). + 53.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.196937 ms (missed cycles : 7).[0m ×2 + 54.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971425 ms (missed cycles : 5). + 54.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971425 ms (missed cycles : 5).[0m ×2 + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063220 ms (missed cycles : 3). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063220 ms (missed cycles : 3).[0m ×2 + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.591553 ms (missed cycles : 4). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.591553 ms (missed cycles : 4).[0m ×2 + 57.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2).[0m ×2 + 59.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3). + 59.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3).[0m ×2 + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8). + 60.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8).[0m ×2 + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3).[0m ×2 + 61.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703809.98281384 seconds ×3 + 61.70sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.70sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.80sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 10.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.80sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 10.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 62.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5). + 62.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5).[0m ×2 + 62.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703810.55684280 seconds. ×3 + 62.63sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 62.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2). + 63.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2).[0m ×2 + 64.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 64.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.0s | 183 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971645 ms (missed cycles : 8). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971645 ms (missed cycles : 8).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706567 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706567 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484772 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484772 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956785 ms (missed cycles : 5). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956785 ms (missed cycles : 5).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880637 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880637 ms (missed cycles : 5).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681150 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681150 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243997 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243997 ms (missed cycles : 4).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058779 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058779 ms (missed cycles : 4).[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954558 ms (missed cycles : 5). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954558 ms (missed cycles : 5).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727969 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727969 ms (missed cycles : 2).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578947 ms (missed cycles : 4). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578947 ms (missed cycles : 4).[0m ×2 + 17.36sINFOros2_control_nodeMuJoCo sim: 4.65% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112700 ms (missed cycles : 3). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112700 ms (missed cycles : 3).[0m ×2 + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168893 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168893 ms (missed cycles : 2).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147419 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147419 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289395 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289395 ms (missed cycles : 3).[0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784500 ms (missed cycles : 3). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784500 ms (missed cycles : 3).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130696 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130696 ms (missed cycles : 3).[0m ×2 + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962876 ms (missed cycles : 2). + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962876 ms (missed cycles : 2).[0m ×2 + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335669 ms (missed cycles : 4). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335669 ms (missed cycles : 4).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612102 ms (missed cycles : 3). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612102 ms (missed cycles : 3).[0m ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.356106 ms (missed cycles : 7). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.356106 ms (missed cycles : 7).[0m ×2 + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912350 ms (missed cycles : 5). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912350 ms (missed cycles : 5).[0m ×2 + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817993 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817993 ms (missed cycles : 2).[0m ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276132 ms (missed cycles : 2). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276132 ms (missed cycles : 2).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332393 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332393 ms (missed cycles : 2).[0m ×2 + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025918 ms (missed cycles : 2). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025918 ms (missed cycles : 2).[0m ×2 + 33.58sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690147 ms (missed cycles : 5). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690147 ms (missed cycles : 5).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917419 ms (missed cycles : 3). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917419 ms (missed cycles : 3).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080077 ms (missed cycles : 2). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080077 ms (missed cycles : 2).[0m ×2 + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260111 ms (missed cycles : 4). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260111 ms (missed cycles : 4).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004331 ms (missed cycles : 5). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004331 ms (missed cycles : 5).[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917488 ms (missed cycles : 2). + 39.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917488 ms (missed cycles : 2).[0m ×2 + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413481 ms (missed cycles : 4). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413481 ms (missed cycles : 4).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039174 ms (missed cycles : 2). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039174 ms (missed cycles : 2).[0m ×2 + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049200 ms (missed cycles : 5). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049200 ms (missed cycles : 5).[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256510 ms (missed cycles : 2). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256510 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903727 ms (missed cycles : 2). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903727 ms (missed cycles : 2).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714912 ms (missed cycles : 4). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714912 ms (missed cycles : 4).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855519 ms (missed cycles : 3). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855519 ms (missed cycles : 3).[0m ×2 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263696 ms (missed cycles : 2). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263696 ms (missed cycles : 2).[0m ×2 + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368475 ms (missed cycles : 5). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368475 ms (missed cycles : 5).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099698 ms (missed cycles : 2). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099698 ms (missed cycles : 2).[0m ×2 + 51.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124293 ms (missed cycles : 3). + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124293 ms (missed cycles : 3).[0m ×2 + 52.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689012 ms (missed cycles : 2). + 52.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689012 ms (missed cycles : 2).[0m ×2 + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235650 ms (missed cycles : 4). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235650 ms (missed cycles : 4).[0m ×2 + 54.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355018 ms (missed cycles : 4). + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355018 ms (missed cycles : 4).[0m ×2 + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233340 ms (missed cycles : 4). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233340 ms (missed cycles : 4).[0m ×2 + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721475 ms (missed cycles : 6). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721475 ms (missed cycles : 6).[0m ×2 + 57.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392694 ms (missed cycles : 5). + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392694 ms (missed cycles : 5).[0m ×2 + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920107 ms (missed cycles : 2). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920107 ms (missed cycles : 2).[0m ×2 + 59.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787704042.67535305 seconds ×3 + 59.30sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.30sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.40sWARNlocal_costmap.local_costmapSensor origin at (-1.02, 5.38) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.40sWARNlocal_costmap.local_costmapSensor origin at (-1.92, 5.40) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193602 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193602 ms (missed cycles : 2).[0m ×2 + 59.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787704043.25424147 seconds. ×3 + 60.20sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 60.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.427877 ms (missed cycles : 7). + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.427877 ms (missed cycles : 7).[0m ×2 + 61.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359062 ms (missed cycles : 3). + 61.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359062 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.9s | 181 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787703847.28732181 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-0.76, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787703847.85089183 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935940 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935940 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963067 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963067 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625142 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625142 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224319 ms (missed cycles : 5). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224319 ms (missed cycles : 5).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167171 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167171 ms (missed cycles : 4).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875062 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875062 ms (missed cycles : 3).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343489 ms (missed cycles : 7). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343489 ms (missed cycles : 7).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723890 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723890 ms (missed cycles : 2).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065266 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065266 ms (missed cycles : 2).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828352 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828352 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250974 ms (missed cycles : 4). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250974 ms (missed cycles : 4).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787318 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787318 ms (missed cycles : 2).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.477768 ms (missed cycles : 7). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.477768 ms (missed cycles : 7).[0m ×2 + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604441 ms (missed cycles : 6). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604441 ms (missed cycles : 6).[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305230 ms (missed cycles : 2). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305230 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935876 ms (missed cycles : 3). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935876 ms (missed cycles : 3).[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.009152 ms (missed cycles : 7). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.009152 ms (missed cycles : 7).[0m ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.388385 ms (missed cycles : 7). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.388385 ms (missed cycles : 7).[0m ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416911 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416911 ms (missed cycles : 2).[0m ×2 + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096360 ms (missed cycles : 4). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096360 ms (missed cycles : 4).[0m ×2 + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426496 ms (missed cycles : 3). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426496 ms (missed cycles : 3).[0m ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882787 ms (missed cycles : 3). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882787 ms (missed cycles : 3).[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980597 ms (missed cycles : 5). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980597 ms (missed cycles : 5).[0m ×2 + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082988 ms (missed cycles : 2). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082988 ms (missed cycles : 2).[0m ×2 + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915137 ms (missed cycles : 3). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915137 ms (missed cycles : 3).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647019 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647019 ms (missed cycles : 2).[0m ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151031 ms (missed cycles : 4). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151031 ms (missed cycles : 4).[0m ×2 + 34.71sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276294 ms (missed cycles : 5). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276294 ms (missed cycles : 5).[0m ×2 + 35.52sINFOobjective_server_nodePlanning for 59 path waypoints. ×3 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650384 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650384 ms (missed cycles : 2).[0m ×2 + 36.78sINFOros2_control_nodeMuJoCo sim: 3.69% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498727 ms (missed cycles : 4). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498727 ms (missed cycles : 4).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173994 ms (missed cycles : 4). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173994 ms (missed cycles : 4).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178702 ms (missed cycles : 3). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178702 ms (missed cycles : 3).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449549 ms (missed cycles : 3). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449549 ms (missed cycles : 3).[0m ×2 + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660763 ms (missed cycles : 6). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.660763 ms (missed cycles : 6).[0m ×2 + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.066617 ms (missed cycles : 8). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.066617 ms (missed cycles : 8).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514585 ms (missed cycles : 3). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514585 ms (missed cycles : 3).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660348 ms (missed cycles : 2). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660348 ms (missed cycles : 2).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.479880 ms (missed cycles : 7). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.479880 ms (missed cycles : 7).[0m ×2 + 46.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123859 ms (missed cycles : 5). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123859 ms (missed cycles : 5).[0m ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994277 ms (missed cycles : 3). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994277 ms (missed cycles : 3).[0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161139 ms (missed cycles : 2). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161139 ms (missed cycles : 2).[0m ×2 + 49.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068395 ms (missed cycles : 5). + 49.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068395 ms (missed cycles : 5).[0m ×2 + 50.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858916 ms (missed cycles : 2). + 50.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858916 ms (missed cycles : 2).[0m ×2 + 51.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336362 ms (missed cycles : 3). + 51.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336362 ms (missed cycles : 3).[0m ×2 + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036019 ms (missed cycles : 2). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036019 ms (missed cycles : 2).[0m ×2 + 54.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807770 ms (missed cycles : 5). + 54.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.807770 ms (missed cycles : 5).[0m ×2 + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616518 ms (missed cycles : 4). + 55.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616518 ms (missed cycles : 4).[0m ×2 + 56.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240176 ms (missed cycles : 2). + 56.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240176 ms (missed cycles : 2).[0m ×2 + 57.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038762 ms (missed cycles : 4). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038762 ms (missed cycles : 4).[0m ×2 + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077297 ms (missed cycles : 3). + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077297 ms (missed cycles : 3).[0m ×2 + 59.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787703903.21102762 seconds ×3 + 59.23sWARNlocal_costmap.local_costmapSensor origin at (-1.78, 10.61) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.23sWARNlocal_costmap.local_costmapSensor origin at (-2.53, 11.12) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871981 ms (missed cycles : 2). + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871981 ms (missed cycles : 2).[0m ×2 + 59.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787703903.77484465 seconds. ×3 + 60.17sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.072501 ms (missed cycles : 11). + 60.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.072501 ms (missed cycles : 11).[0m ×2 + 61.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2). + 61.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2).[0m ×2 + 62.02sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 144 warnings · 141 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.95sINFOmove_groupClearing octomap...[0m ×2 + 1.95sINFOmove_groupOctomap cleared.[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 3.86sINFOobjective_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 + 3.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.90sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876445 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876445 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212577 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212577 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715531 ms (missed cycles : 6). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.715531 ms (missed cycles : 6).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900280 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900280 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170026 ms (missed cycles : 4). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170026 ms (missed cycles : 4).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609442 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609442 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.817438 ms (missed cycles : 6). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.817438 ms (missed cycles : 6).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921302 ms (missed cycles : 6). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921302 ms (missed cycles : 6).[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.448054 ms (missed cycles : 7). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.448054 ms (missed cycles : 7).[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261602 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261602 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776495 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776495 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788888 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788888 ms (missed cycles : 2).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382134 ms (missed cycles : 3). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382134 ms (missed cycles : 3).[0m ×2 + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948472 ms (missed cycles : 4). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948472 ms (missed cycles : 4).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120132 ms (missed cycles : 4). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120132 ms (missed cycles : 4).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687135 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687135 ms (missed cycles : 2).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704313 ms (missed cycles : 3). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704313 ms (missed cycles : 3).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747062 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747062 ms (missed cycles : 2).[0m ×2 + 25.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667050 ms (missed cycles : 2). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667050 ms (missed cycles : 2).[0m ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836785 ms (missed cycles : 5). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836785 ms (missed cycles : 5).[0m ×2 + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371650 ms (missed cycles : 3). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371650 ms (missed cycles : 3).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040304 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040304 ms (missed cycles : 2).[0m ×2 + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593204 ms (missed cycles : 5). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593204 ms (missed cycles : 5).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633810 ms (missed cycles : 2). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633810 ms (missed cycles : 2).[0m ×2 + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935858 ms (missed cycles : 5). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935858 ms (missed cycles : 5).[0m ×2 + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601191 ms (missed cycles : 4). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601191 ms (missed cycles : 4).[0m ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989092 ms (missed cycles : 2). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989092 ms (missed cycles : 2).[0m ×2 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348738 ms (missed cycles : 4). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348738 ms (missed cycles : 4).[0m ×2 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.485304 ms (missed cycles : 7). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.485304 ms (missed cycles : 7).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.141050 ms (missed cycles : 8). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.141050 ms (missed cycles : 8).[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801434 ms (missed cycles : 2). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801434 ms (missed cycles : 2).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668398 ms (missed cycles : 4). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668398 ms (missed cycles : 4).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510579 ms (missed cycles : 3). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510579 ms (missed cycles : 3).[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758349 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758349 ms (missed cycles : 2).[0m ×2 + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260190 ms (missed cycles : 2). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260190 ms (missed cycles : 2).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298745 ms (missed cycles : 4). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298745 ms (missed cycles : 4).[0m ×2 + 44.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2).[0m ×2 + 45.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5).[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5).[0m ×2 + 47.56sINFOjoint_trajectory_controllerGoal reached, success! + 47.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787703748.39280581 seconds ×3 + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4). + 47.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4).[0m ×2 + 48.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787703748.94368362 seconds. ×3 + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4).[0m ×2 + 49.29sINFOobjective_server_nodeFound path in 0 iterations (2.9316e-05 s). ×2 + 49.29sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 110 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414613 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414613 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252707 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252707 ms (missed cycles : 3).[0m ×2 + 2.20sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.20sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787703814.75697064 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484677 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484677 ms (missed cycles : 2).[0m ×2 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787703816.31718493 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903582 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903582 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (1.155e-06 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544176 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544176 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032732 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032732 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.34sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.34sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.34sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072209 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072209 ms (missed cycles : 4).[0m ×2 + 8.28sINFOros2_control_nodeMuJoCo sim: 3.60% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705888 ms (missed cycles : 6). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705888 ms (missed cycles : 6).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476296 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476296 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559059 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559059 ms (missed cycles : 3).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175540 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175540 ms (missed cycles : 5).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028394 ms (missed cycles : 4). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028394 ms (missed cycles : 4).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788484 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788484 ms (missed cycles : 3).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651974 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651974 ms (missed cycles : 3).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.855050 ms (missed cycles : 7). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.855050 ms (missed cycles : 7).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283509 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283509 ms (missed cycles : 4).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778020 ms (missed cycles : 3). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778020 ms (missed cycles : 3).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982965 ms (missed cycles : 3). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982965 ms (missed cycles : 3).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347157 ms (missed cycles : 3). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347157 ms (missed cycles : 3).[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982621 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982621 ms (missed cycles : 3).[0m ×2 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698100 ms (missed cycles : 3). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698100 ms (missed cycles : 3).[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978362 ms (missed cycles : 5). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978362 ms (missed cycles : 5).[0m ×2 + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139957 ms (missed cycles : 3). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139957 ms (missed cycles : 3).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360664 ms (missed cycles : 3). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360664 ms (missed cycles : 3).[0m ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541890 ms (missed cycles : 3). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541890 ms (missed cycles : 3).[0m ×2 + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715796 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715796 ms (missed cycles : 2).[0m ×2 + 28.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625315 ms (missed cycles : 6). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625315 ms (missed cycles : 6).[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456595 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456595 ms (missed cycles : 3).[0m ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518952 ms (missed cycles : 3). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518952 ms (missed cycles : 3).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6).[0m ×2 + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3).[0m ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6).[0m ×2 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7).[0m ×2 + 34.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787703847.28732181 seconds ×3 + 34.83sWARNlocal_costmap.local_costmapSensor origin at (-0.76, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 34.83sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787703847.85089183 seconds. ×3 + 35.72sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2).[0m ×2 + 37.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 19.6s | 80 warnings · 113 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233340 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233340 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721475 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.721475 ms (missed cycles : 6).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392694 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392694 ms (missed cycles : 5).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920107 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920107 ms (missed cycles : 2).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787704042.67535305 seconds ×3 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-1.02, 5.38) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-1.92, 5.40) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193602 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193602 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787704043.25424147 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.427877 ms (missed cycles : 7). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.427877 ms (missed cycles : 7).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359062 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359062 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351539 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351539 ms (missed cycles : 4).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183235 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183235 ms (missed cycles : 3).[0m ×2 + 9.07sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.431256 ms (missed cycles : 6). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.431256 ms (missed cycles : 6).[0m ×2 + 9.46sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 10.34sINFOobjective_server_nodeFound path in 83 iterations (0.101511 s). ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590475 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590475 ms (missed cycles : 3).[0m ×2 + 10.69sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________X_____X] ×2 + 11.26sINFOobjective_server_nodeFound path in 1541 iterations (0.478329 s). ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868728 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868728 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075298 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075298 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106921 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106921 ms (missed cycles : 4).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.438701 ms (missed cycles : 10). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.438701 ms (missed cycles : 10).[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209072 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209072 ms (missed cycles : 3).[0m ×2 + 16.55sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________X________________________________________________________________________________________________X________________________X___________________________________________________________X] ×2 + 16.82sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.339895 ms (missed cycles : 7). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.339895 ms (missed cycles : 7).[0m ×2 + 17.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 17.34sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748163 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748163 ms (missed cycles : 3).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358475 ms (missed cycles : 4). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358475 ms (missed cycles : 4).[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807981 ms (missed cycles : 6). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807981 ms (missed cycles : 6).[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5).[0m ×2 + 21.88sINFOros2_control_nodeMuJoCo sim: 4.71% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3).[0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2).[0m ×2 + 23.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787704062.28439808 seconds ×3 + 23.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704062.87991428 seconds. ×3 + 23.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.94sINFOmove_groupClearing octomap...[0m ×2 + 23.94sINFOmove_groupOctomap cleared.[0m ×2 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2).[0m ×2 + 24.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704063.53003645 seconds ×3 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 25.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704064.09770608 seconds. ×3 + 25.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787704064.67165852 seconds ×3 + 25.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203268 ms (missed cycles : 4). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 85 errors · 36 warnings · 430 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 4.71% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787704062.28439808 seconds ×3 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704062.87991428 seconds. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.92sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704063.53003645 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704064.09770608 seconds. ×3 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787704064.67165852 seconds ×3 + 4.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203268 ms (missed cycles : 4). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203268 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.818066 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.818066 ms (missed cycles : 6).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516209 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516209 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167125 ms (missed cycles : 5). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167125 ms (missed cycles : 5).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089919 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089919 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243711 ms (missed cycles : 5). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243711 ms (missed cycles : 5).[0m ×2 + 11.02sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] ×2 + 11.13sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.16sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.18sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.21sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.23sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.26sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.30sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.33sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.35sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837102 ms (missed cycles : 2). + 11.38sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.40sINFOweb_video_server-32process has finished cleanly [pid 10769] ×2 + 11.42sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.44sINFOtf2_web_republisher_node-31process has finished cleanly [pid 10768] ×2 + 11.45sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.49sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.49sINFOcontroller_managerShutdown request received.... + 11.49sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.49sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.49sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.49sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.49sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.49sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.49sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.49sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.49sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.49sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.49sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.49sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.49sINFOcontroller_managerShutting down the controller manager. + 11.49sERRORui_teleop_bridge-29process has died [pid 10766, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_o09xffa5']. ×2 + 11.51sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.51sERRORmove_group-20process has died [pid 10700, 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__7kwga1g --params-file /tmp/launch_params_5u2z9ufb --params-file /tmp/launch_params_y4xwibd9 --params-file /tmp/launch_params_bwwsy2th --params-file /tmp/launch_params_4ik76nlq --params-file /tmp/launch_params_zzro35yn --params-file /tmp/launch_params_gwoppbui --params-file /tmp/launch_params_aeoty_97 --params-file /tmp/launch_params_9hhsi1_w']. ×2 + 11.53sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787704071.192 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.54sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.54sINFOcomponent_container_mt-27process has finished cleanly [pid 10764] ×2 + 11.56sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.59sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.59sINFOexecute_objective_bridge-28process has finished cleanly [pid 10765] ×2 + 11.62sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.64sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.66sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.66sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.66sINFOmap_serverDeactivating + 11.66sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.66sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sERRORobjective_server_node_main-25process has died [pid 10762, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_7q7a5le5 --params-file /tmp/launch_params_ju42h5i6 --params-file /tmp/launch_params_jry4dx7k --params-file /tmp/launch_params_zopq9dv0 --params-file /tmp/launch_params_dq5ny9hw --params-file /tmp/launch_params_wiqxo1_b']. ×2 + 11.66sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.66sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.66sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.1', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.66sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.66sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.66sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.66sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.66sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.66sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.66sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.66sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.66sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.67sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.67sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837102 ms (missed cycles : 2).[0m ×2 + 11.67sINFOmap_serverCleaning up + 11.67sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.67sINFOcontroller_serverDeactivating + 11.67sINFOlocal_costmap.local_costmapDeactivating + 11.67sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.67sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.67sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.67sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.67sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.67sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.67sERRORmove_groupStack trace (most recent call last) in thread 11300: ×2 + 11.67sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.67sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac5a279a63, in __clone ×2 + 11.67sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac5a1ecaa3, in ×2 + 11.67sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac5a47cdb3, in ×2 + 11.67sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.1", at 0x7fac5aad31a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.67sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac5a7f14d0, in rclcpp::Rate::sleep() ×2 + 11.67sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac5a744a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.67sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac5a709a71, in ×2 + 11.67sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac5a44b390, in __cxa_throw ×2 + 11.67sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac5a435a54, in std::terminate() ×2 + 11.67sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac5a44b0d9, in ×2 + 11.67sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac5a435ff4, in ×2 + 11.67sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac5a1788fe, in abort ×2 + 11.67sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac5a19527d, in raise ×2 + 11.67sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac5a1eeb2c, in pthread_kill ×2 + 11.67sERRORmove_groupAborted (Signal sent by tkill() 10700 0) ×2 + 11.68sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.68sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.68sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.68sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.68sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.68sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.68sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.68sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.68sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.68sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.68sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.68sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.68sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.68sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.68sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.68sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.68sINFOobjective_server_node[2026-08-26 00:27:51.509] [moveit_pro_license] [info] ×2 + 11.68sINFOobjective_server_node************************************************* ×4 + 11.68sINFOobjective_server_node* MoveIt Pro License ×2 + 11.68sINFOobjective_server_node* Application has successfully terminated ×2 + 11.68sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.68sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.68sINFOodom_qos_relay.pymain() ×2 + 11.68sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.68sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.68sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.68sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.68sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.68sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.68sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.68sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.68sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.68sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.68sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556f6f6d66a4, in _start ×2 + 11.68sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c53c7328a, in __libc_start_main ×2 + 11.68sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c53c731d0, in ×2 + 11.69sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c53c90bbd, in exit ×2 + 11.69sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c53c90a75, in ×2 + 11.69sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f0c5415f8f5, in spdlog::details::registry::~registry() ×2 + 11.69sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556f6f6d6d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.69sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556f6f6dd315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.69sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556f6f6dc5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.69sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556f6f6d8b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.69sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x556f6f6d6d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.69sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c5481d454, in rclcpp::Node::~Node() ×2 + 11.69sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c547d8515, in ×2 + 11.69sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c5481bd20, in ×2 + 11.69sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c5481bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.69sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c547d85d9, in ×2 + 11.69sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c547dd161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.69sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0c03199bc0]) ×2 + 11.69sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.69sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.69sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.70sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.71sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.71sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.71sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.72sINFOcontroller_serverCleaning up + 11.72sINFOlocal_costmap.local_costmapCleaning up + 11.76sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.76sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.77sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.77sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.77sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.77sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.77sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.77sINFOvelocity_smootherDeactivating + 11.77sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.78sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.78sINFOsmoother_serverDeactivating + 11.78sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.79sINFOsmoother_serverCleaning up + 11.80sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.80sINFOplanner_serverDeactivating + 11.80sINFOglobal_costmap.global_costmapDeactivating + 11.89sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.89sINFOwaypoint_followerDeactivating + 11.89sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.00sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.00sINFObt_navigatorDeactivating + 12.00sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.11sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.11sINFObehavior_serverDeactivating + 12.11sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.23sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.23sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.23sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 12.23sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.23sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.23sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.23sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.23sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.23sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.23sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.23sINFOvelocity_smootherCleaning up + 12.24sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.24sINFOwaypoint_followerCleaning up + 12.27sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.27sINFObt_navigatorCleaning up + 12.38sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10761] ×2 + 12.41sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10703] ×2 + 12.45sINFObt_navigatorCompleted Cleaning up + 12.45sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.45sINFObehavior_serverCleaning up + 12.49sINFOparameter_manager_node-21process has finished cleanly [pid 10701] ×2 + 12.49sINFOcomponent_container_mt-26process has finished cleanly [pid 10763] ×2 + 12.49sINFOwaypoint_manager_node-22process has finished cleanly [pid 10702] ×2 + 12.50sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.50sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.50sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.50sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.56sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10610] ×2 + 12.58sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10609] ×2 + 12.64sINFOstatic_transform_publisher-4process has finished cleanly [pid 10607] ×2 + 12.66sINFOstatic_transform_publisher-3process has finished cleanly [pid 10606] ×2 + 12.67sERRORodom_qos_relay.py-5process has died [pid 10608, 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 + 12.68sINFOstatic_transform_publisher-2process has finished cleanly [pid 10605] ×2 + 12.73sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.73sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.74sINFOplanner_serverCleaning up + 12.75sINFOglobal_costmap.global_costmapCleaning up + 12.76sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.76sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.79sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.79sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.79sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.79sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.80sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.13sERRORcomponent_container_isolated-1process has died [pid 10604, exit code -6, 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_lnmudjtc --params-file /tmp/launch_params_v5fvl_5c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.80sINFOweb_bridge-30process has finished cleanly [pid 10767] ×2 + 13.80sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.22sINFOros2_control_node-8process has finished cleanly [pid 10611] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 52 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240176 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038762 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038762 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077297 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077297 ms (missed cycles : 3).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787703903.21102762 seconds ×3 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-1.78, 10.61) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.53, 11.12) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871981 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871981 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787703903.77484465 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.072501 ms (missed cycles : 11). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.072501 ms (missed cycles : 11).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249321 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249321 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998538 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998538 ms (missed cycles : 5).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462840 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462840 ms (missed cycles : 4).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919694 ms (missed cycles : 5). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919694 ms (missed cycles : 5).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744235 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744235 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362787 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362787 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742136 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742136 ms (missed cycles : 2).[0m ×2 + 13.42sINFOjoint_trajectory_controllerGot request to cancel goal + 13.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.42sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787703913.85639358 seconds ×3 + 13.56sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 3.77) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 13.56sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.69) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046181 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046181 ms (missed cycles : 2).[0m ×2 + 14.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787703914.40864849 seconds. ×3 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641701 ms (missed cycles : 6). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641701 ms (missed cycles : 6).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156284 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156284 ms (missed cycles : 4).[0m ×2 + 16.24sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.8s | 43 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.72sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703809.98281384 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 10.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 10.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703810.55684280 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414613 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414613 ms (missed cycles : 4).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252707 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252707 ms (missed cycles : 3).[0m ×2 + 8.51sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787703814.75697064 seconds ×3 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484677 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484677 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787703816.31718493 seconds. ×3 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903582 ms (missed cycles : 5). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903582 ms (missed cycles : 5).[0m ×2 + 10.51sINFOobjective_server_nodeFound path in 0 iterations (1.155e-06 s). ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544176 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544176 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032732 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032732 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.8s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787703748.39280581 seconds ×3 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787703748.94368362 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.9316e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143891 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143891 ms (missed cycles : 6).[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787703752.22383714 seconds ×3 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459863 ms (missed cycles : 6). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459863 ms (missed cycles : 6).[0m ×2 + 7.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787703752.79268003 seconds. ×3 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898701 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898701 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731804 ms (missed cycles : 6). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731804 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 24 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807981 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807981 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 4.71% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787704062.28439808 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704062.87991428 seconds. ×3 + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704063.53003645 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704064.09770608 seconds. ×3 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787704064.67165852 seconds ×3 + 6.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203268 ms (missed cycles : 4). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203268 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.818066 ms (missed cycles : 6). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.818066 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787703748.39280581 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787703748.94368362 seconds. ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (2.9316e-05 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOjoint_trajectory_controllerReceived new action goal + 1.75sINFOjoint_trajectory_controllerAccepted new action goal + 1.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143891 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.143891 ms (missed cycles : 6).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787703752.22383714 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459863 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.459863 ms (missed cycles : 6).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787703752.79268003 seconds. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898701 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898701 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731804 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731804 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 25 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703809.98281384 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 10.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 10.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703810.55684280 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 25 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703809.98281384 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 10.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 10.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703810.55684280 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 25 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703809.98281384 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 10.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 10.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703810.55684280 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787703748.39280581 seconds ×3 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787703748.94368362 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.9316e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997707 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197491 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632016 ms (missed cycles : 5).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787703748.39280581 seconds ×3 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518080 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787703748.94368362 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521375 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.9316e-05 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288878 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 25 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703809.98281384 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 10.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 10.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703810.55684280 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 25 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274594 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458409 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.964256 ms (missed cycles : 8).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690672 ms (missed cycles : 3).[0m ×2 + 3.72sINFOjoint_trajectory_controllerGoal reached, success! + 3.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787703809.98281384 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 10.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 10.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409197 ms (missed cycles : 5).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787703810.55684280 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135806 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498896 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787703847.28732181 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-0.76, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787703847.85089183 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787703847.28732181 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-0.76, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787703847.85089183 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.699428 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394600 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636194 ms (missed cycles : 6).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614805 ms (missed cycles : 7).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787703847.28732181 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-0.76, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787703847.85089183 seconds. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863569 ms (missed cycles : 5).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306913 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737142 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329831 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287942 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196520 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787703986.70104957 seconds ×3 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 14.02) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.57) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787703987.26402164 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417700 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.831e-06 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807981 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807981 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344041 ms (missed cycles : 5).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 4.71% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899911 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554547 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787704062.28439808 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704062.87991428 seconds. ×3 + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044733 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704063.53003645 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704064.09770608 seconds. ×3 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787704064.67165852 seconds ×3 + 6.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203268 ms (missed cycles : 4). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 7.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 106 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 2.47sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.42sINFOmove_groupClearing octomap...[0m ×2 + 4.43sINFOmove_groupOctomap cleared.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 88 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 2.47sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.42sINFOmove_groupClearing octomap...[0m ×2 + 4.43sINFOmove_groupOctomap cleared.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 6.33sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569010 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876445 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876445 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465597 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 3.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658803 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836132 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787703702.75637865 seconds. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.63sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787703702.77061343 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939872 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787703703.33561063 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787703703.34794307 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787703703.91697598 seconds. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787703704.06756759 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087505 ms (missed cycles : 6).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787703704.65320778 seconds. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.59sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787703704.72333384 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787703705.27370334 seconds. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626099 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890385 ms (missed cycles : 2).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||