69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.9s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.3s | 12 errors · 307 warnings · 1403 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/2026-08-28-00-43-33-327505-ed9300d99913-7741 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.28sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 13.29sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 13.35sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.37sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.37sINFOcontroller_managerupdate rate is 600 Hz + 13.37sINFOcontroller_managerOverruns handling is : enabled + 13.37sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.37sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 13.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.41sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.42sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.43sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.43sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.44sINFOcontroller_serverCreating controller server + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947876 ms (missed cycles : 3). + 13.46sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.46sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.47sINFOlocal_costmap.local_costmapCreating Costmap + 13.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.58sINFOsmoother_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. + 13.61sINFOsmoother_serverCreating smoother server + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.64sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.66sINFOros2_control_node-9process started with pid [7799] ×2 + 13.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.66sINFOmove_group-21process started with pid [7906] ×2 + 13.66sINFOparameter_manager_node-22process started with pid [7907] ×2 + 13.66sINFOwaypoint_manager_node-23process started with pid [7908] ×2 + 13.66sINFOmove_joint_resampler_node-24process started with pid [7915] ×2 + 13.66sINFOmap_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. + 13.66sINFOmap_serverCreating + 13.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.69sINFOmove_end_effector_resampler_node-25process started with pid [7916] ×2 + 13.69sINFOobjective_server_node_main-26process started with pid [7917] ×2 + 13.69sINFOcomponent_container_mt-27process started with pid [7918] ×2 + 13.69sINFOcomponent_container_mt-28process started with pid [7919] ×2 + 13.69sINFOexecute_objective_bridge-29process started with pid [7920] ×2 + 13.69sINFOui_teleop_bridge-30process started with pid [7921] ×2 + 13.69sINFOweb_bridge-31process started with pid [7922] ×2 + 13.69sINFOtf2_web_republisher_node-32process started with pid [7939] ×2 + 13.69sINFOvideo_server-33process started with pid [7940] ×2 + 13.69sINFOweb_bridge_auth_proxy-34process started with pid [7941] ×2 + 13.69sINFOweb_video_auth_proxy-35process started with pid [7944] ×2 + 13.69sINFOplanner_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. + 13.71sINFOcomponent_container_isolated-1process started with pid [7791] ×2 + 13.71sINFOcomponent_container_isolated-2process started with pid [7792] ×2 + 13.71sINFOstatic_transform_publisher-3process started with pid [7793] ×2 + 13.71sINFOstatic_transform_publisher-4process started with pid [7794] ×2 + 13.71sINFOodom_qos_relay.py-5process started with pid [7795] ×2 + 13.71sINFOforward_stereo_publisher.py-6process started with pid [7796] ×2 + 13.71sINFOscan_to_scan_filter_chain-7process started with pid [7797] ×2 + 13.71sINFOscan_to_scan_filter_chain-8process started with pid [7798] ×2 + 13.71sINFOros2-10process started with pid [7895] ×2 + 13.71sINFOros2-11process started with pid [7896] ×2 + 13.71sINFOros2-12process started with pid [7897] ×2 + 13.71sINFOros2-13process started with pid [7898] ×2 + 13.71sINFOros2-14process started with pid [7899] ×2 + 13.71sINFOros2-15process started with pid [7900] ×2 + 13.71sINFOros2-16process started with pid [7901] ×2 + 13.71sINFOros2-17process started with pid [7902] ×2 + 13.71sINFOros2-18process started with pid [7903] ×2 + 13.71sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.73sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.73sINFOros2-19process started with pid [7904] ×2 + 13.73sINFOros2-20process started with pid [7905] ×2 + 13.73sINFOplanner_serverCreating + 13.77sINFOglobal_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. + 13.78sINFOglobal_costmap.global_costmapCreating Costmap + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.81sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.81sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.84sINFObehavior_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. + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 13.85sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.86sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.86sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.86sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.86sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.86sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.86sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.86sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.87sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.87sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947876 ms (missed cycles : 3).[0m ×2 + 13.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.89sINFOlifecycle_manager_localizationCreating + 13.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.91sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.92sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.94sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.94sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.95sINFOmap_serverConfiguring + 13.97sINFObt_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. + 13.97sINFOrobot_state_publisherRobot initialized + 13.97sINFOcontroller_managerReceived robot description from topic. + 13.97sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.98sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.98sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.98sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.99sINFObt_navigatorCreating + 14.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.02sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.02sINFOamclConfiguring + 14.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.03sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.03sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.03sINFOmap_serverActivating + 14.04sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.04sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.04sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.07sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.07sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.08sINFOwaypoint_followerCreating + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.14sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.15sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.15sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.15sINFOamclActivating + 14.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.15sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.15sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.17sINFOamclSubscribed to map_topic: /map + 14.17sINFOamclSubscribed to scan_topic: /scan_merged + 14.17sINFOamclCreated reinitialize_global_localization service + 14.17sINFOamclCreated request_nomotion_update service + 14.18sINFOamclA new map was received + 14.18sINFOamclInitializing particle filter instance + 14.19sINFOlifecycle_manager_navigationCreating + 14.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.20sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.21sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.24sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.24sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.24sINFOcontroller_serverConfiguring controller interface + 14.24sINFOcontroller_servergetting progress checker plugins.. + 14.24sINFOcontroller_servergetting goal checker plugins.. + 14.24sINFOcontroller_serverController frequency set to 20.0000Hz + 14.24sINFOlocal_costmap.local_costmapConfiguring + 14.25sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.28sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.437734 seconds + 14.28sINFOmove_groupLoaded robot model in 0.437734 seconds[0m ×2 + 14.28sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.28sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.28sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.28sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.28sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.29sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.29sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.30sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.31sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.31sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.31sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.31sINFOvideo_server2026/08/28 00:43:50 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.31sINFOvideo_server2026/08/28 00:43:50 INF configuration loaded from /tmp/moveit-webrtc-i04rt9yy/mediamtx.yml ×2 + 14.31sINFOvideo_server2026/08/28 00:43:50 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.31sINFOvideo_server2026/08/28 00:43:50 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.34sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.34sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.35sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.35sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.36sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.38sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.39sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.39sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.41sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.41sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.41sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.41sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.42sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.44sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.44sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.45sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.47sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.47sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.48sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.48sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.48sINFOcontroller_serverOptimizer reset ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467654 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467654 ms (missed cycles : 3).[0m ×2 + 14.51sINFOcontroller_serverController Server has FollowPath controllers available. + 14.52sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.52sINFOsmoother_serverConfiguring smoother server + 14.53sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.54sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.55sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.55sINFOplanner_serverConfiguring + 14.55sINFOglobal_costmap.global_costmapConfiguring + 14.57sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.58sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.58sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.58sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.59sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.64sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.64sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.64sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.69sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.69sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.70sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.70sINFOplanner_serverPlanner Server has GridBased planners available. + 14.73sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.73sINFObehavior_serverConfiguring + 14.74sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 14.75sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 14.75sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 14.76sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 14.77sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 14.78sINFObehavior_serverConfiguring spin + 14.81sINFObehavior_serverConfiguring backup + 14.82sINFObehavior_serverConfiguring drive_on_heading + 14.83sINFObehavior_serverConfiguring assisted_teleop + 14.85sINFObehavior_serverConfiguring wait + 14.86sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 14.86sINFObt_navigatorConfiguring + 14.86sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 14.88sWARNbt_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 + 14.90sINFOamclParticle filter initialization completed + 14.90sINFOamclInitializing particles from estimated pose and covariance + 14.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.96sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.96sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.96sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.01sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.22sINFOwaypoint_manager_nodeLoaded robot model in 0.486937 seconds[0m ×2 + 15.22sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.22sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.22sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.23sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.23sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.24sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.25sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.25sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.25sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.25sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.33sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.33sINFOwaypoint_followerConfiguring + 15.38sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.39sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.39sINFOvelocity_smootherConfiguring velocity smoother + 15.42sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.42sINFOcontroller_serverActivating + 15.42sINFOlocal_costmap.local_costmapActivating + 15.42sINFOlocal_costmap.local_costmapChecking transform + 15.42sINFOlocal_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. ×5 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896784 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896784 ms (missed cycles : 2).[0m ×2 + 15.64sINFOmove_group[2026-08-28 00:43:52.188] [moveit_pro_license] [info] ×2 + 15.64sINFOmove_group************************************************* ×4 + 15.64sINFOmove_group* MoveIt Pro License ×2 + 15.64sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.12sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.13sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.13sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.13sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.13sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.14sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.14sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.14sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.14sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.15sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.15sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.15sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.15sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.15sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.15sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.15sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.15sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.16sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.16sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.16sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.22sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 16.22sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.55sINFOwaypoint_manager_node[2026-08-28 00:43:53.098] [moveit_pro_license] [info] ×2 + 16.55sINFOwaypoint_manager_node************************************************* ×4 + 16.55sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.55sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.92sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.92sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.93sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.12sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.12sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.12sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.12sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 17.12sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.12sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.12sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.12sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.12sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.12sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.12sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.12sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.12sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.12sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.12sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.12sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.12sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.12sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.12sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.12sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.12sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.12sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.12sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.12sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.12sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.12sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.12sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.12sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681387 ms (missed cycles : 2). + 17.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681387 ms (missed cycles : 2).[0m ×2 + 17.15sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.15sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 17.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 17.16sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 17.17sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 17.20sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 17.20sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 17.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 17.20sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 17.21sINFOplatform_velocity_controllerconfigure successful + 17.21sINFOros2_control_nodeconfigure successful[0m ×6 + 17.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 17.21sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 17.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.22sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 17.22sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 17.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.32sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 17.38sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 17.38sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 17.38sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 17.41sINFOobjective_server_node[2026-08-28 00:43:53.955] [moveit_pro_license] [info] ×2 + 17.41sINFOobjective_server_node************************************************* ×4 + 17.41sINFOobjective_server_node* MoveIt Pro License ×2 + 17.41sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.48sINFOobjective_server_nodeLoaded robot model in 0.0316748 seconds[0m ×2 + 17.48sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.48sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.55sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 17.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 17.58sINFOros2-13process has finished cleanly [pid 7898] ×2 + 17.62sINFOcomponent_container_mtLoaded robot model in 0.301758 seconds[0m ×2 + 17.62sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.62sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.63sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.63sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.64sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.66sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.66sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.66sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.67sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.67sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.67sINFOstreaming_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) + 17.67sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.67sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 17.67sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.75sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.75sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 17.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.88sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.90sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 17.90sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 17.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.92sINFOlocal_costmap.local_costmapstart + 17.97sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.475ms + 18.02sWARNcontroller_serverParameter controller_server.verbose not found + 18.02sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.02sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.02sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.04sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.04sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.04sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.10sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 18.10sINFOcontroller_managerLoading controller 'vacuum_gripper' + 18.10sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 18.10sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 18.10sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 18.10sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 18.12sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.12sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 18.13sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 18.14sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.14sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.14sINFOsmoother_serverActivating + 18.14sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.15sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.15sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.15sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.15sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sINFOros2-12process has finished cleanly [pid 7897] ×2 + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.18sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.19sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 18.19sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 18.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 18.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 18.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 18.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 18.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 18.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387118 ms (missed cycles : 4). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387118 ms (missed cycles : 4).[0m ×2 + 18.20sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 18.21sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 18.22sINFOmove_groupMoveGroup debug mode is ON + 18.22sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.25sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.25sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.25sINFOplanner_serverActivating + 18.25sINFOglobal_costmap.global_costmapActivating + 18.25sINFOglobal_costmap.global_costmapChecking transform + 18.25sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787877834.761425 but the earliest data is at time 1787877835.390741, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.35sINFOcomponent_container_mt[2026-08-28 00:43:54.896] [moveit_pro_license] [info] ×2 + 18.35sINFOcomponent_container_mt************************************************* ×4 + 18.35sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.35sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.36sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787877833.791 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.37sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 18.37sINFOmove_group ×8 + 18.37sINFOmove_group******************************************************** ×4 + 18.37sINFOmove_group* MoveGroup using: ×2 + 18.37sINFOmove_group* - apply_planning_scene_service ×2 + 18.37sINFOmove_group* - clear_octomap_service ×2 + 18.37sINFOmove_group* - get_group_urdf ×2 + 18.37sINFOmove_group* - load_geometry_from_file ×2 + 18.37sINFOmove_group* - get_planning_scene_service ×2 + 18.37sINFOmove_group* - kinematics_service ×2 + 18.37sINFOmove_group* - save_geometry_to_file ×2 + 18.37sINFOmove_group* - GetPlanningGroups ×2 + 18.37sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.37sINFOmove_group[0m ×2 + 18.38sINFOmove_group[92mYou can start planning now![0m ×2 + 18.41sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.41sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.52sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 18.52sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 18.52sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 18.52sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 18.53sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 18.53sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 18.56sINFOros2-14process has finished cleanly [pid 7899] ×2 + 18.58sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 18.59sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 18.59sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 18.59sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 18.59sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 18.59sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 18.60sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 18.60sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.75sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787877835.266505 but the earliest data is at time 1787877835.390741, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.89sWARNros2_control_nodeCamera render tick took 0.67 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.92sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.92sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.92sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 18.92sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.92sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.92sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 18.96sINFOros2-11process has finished cleanly [pid 7896] ×2 + 18.99sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 18.99sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 18.99sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.99sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.99sINFOplatform_velocity_controller_nav2configure successful + 19.25sINFOglobal_costmap.global_costmapstart + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167284 ms (missed cycles : 4). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167284 ms (missed cycles : 4).[0m ×2 + 19.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 19.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 19.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 19.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 19.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 19.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 19.32sINFOros2-15process has finished cleanly [pid 7900] ×2 + 19.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 19.42sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 19.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 19.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 19.42sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 19.42sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 19.42sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 19.43sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 19.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 19.43sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 19.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 19.43sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 19.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 19.43sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 19.43sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 19.73sINFOros2-16process has finished cleanly [pid 7901] ×2 + 19.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 19.74sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 19.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 19.80sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.80sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 19.80sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 19.81sINFOforce_torque_sensor_broadcasterconfigure successful + 19.81sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 19.81sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 19.81sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 19.81sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.15sINFOros2-10process has finished cleanly [pid 7895] ×2 + 20.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 20.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586009 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586009 ms (missed cycles : 3).[0m ×2 + 20.30sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.31sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.33sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.35sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.35sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.35sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.35sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 20.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 20.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.41sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.41sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.41sINFObehavior_serverActivating + 20.41sINFObehavior_serverActivating spin + 20.41sINFObehavior_serverActivating backup + 20.41sINFObehavior_serverActivating drive_on_heading + 20.41sINFObehavior_serverActivating assisted_teleop + 20.41sINFObehavior_serverActivating wait + 20.41sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.51sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.51sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.51sINFObt_navigatorActivating + 20.58sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 20.69sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 20.69sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 20.69sINFOwaypoint_followerActivating + 20.69sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 20.76sINFOros2_control_node[2026-08-28 00:43:57.304] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.76sINFOros2_control_node[2026-08-28 00:43:57.308] [info] Controller state will be published at 10 Hz. ×2 + 20.76sINFOros2_control_node[2026-08-28 00:43:57.310] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.79sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.79sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.79sINFOvelocity_smootherActivating + 20.79sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.90sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.90sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.90sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.12sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.12sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 21.12sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 21.12sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.12sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 21.12sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 21.13sINFOros2-17process has finished cleanly [pid 7902] ×2 + 21.18sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 21.18sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 21.18sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 21.18sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278188 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278188 ms (missed cycles : 2).[0m ×2 + 21.62sINFOros2_control_node[2026-08-28 00:43:58.172] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.63sINFOros2_control_node[2026-08-28 00:43:58.174] [info] Controller state will be published at 10 Hz. ×2 + 21.63sINFOros2_control_node[2026-08-28 00:43:58.175] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.99sINFOros2-18process has finished cleanly [pid 7903] ×2 + 22.01sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.01sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.01sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.01sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.09sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 22.09sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 22.14sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.14sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.14sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.14sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479532 ms (missed cycles : 3). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479532 ms (missed cycles : 3).[0m ×2 + 22.53sINFOros2_control_node[2026-08-28 00:43:59.074] [info] Controller state will be published at 20 Hz. ×2 + 22.53sINFOros2_control_node[2026-08-28 00:43:59.075] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.89sINFOros2-20process has finished cleanly [pid 7905] ×2 + 22.89sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.89sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 22.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t + 22.89sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.89sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 22.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p3gjjkhg --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_n7a8_7fq --params-file /tmp/launch_params_di9cgb4t [0m ×2 + 22.97sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 22.97sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 22.97sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 22.97sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674085 ms (missed cycles : 2). + 23.40sINFOros2_control_node[2026-08-28 00:43:59.947] [info] Controller state will be published at 20 Hz. ×2 + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674085 ms (missed cycles : 2).[0m ×2 + 23.40sINFOros2_control_node[2026-08-28 00:43:59.948] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 23.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 23.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 23.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 23.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.75sINFOros2-19process has finished cleanly [pid 7904] ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050683 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050683 ms (missed cycles : 2).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 27.16sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 28.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.67sINFOmove_groupClearing octomap...[0m ×2 + 28.67sINFOmove_groupOctomap cleared.[0m ×2 + 28.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 29.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 29.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 30.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.63sINFOobjective_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 + 30.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 30.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 74.5s | 3 errors · 234 warnings · 241 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715495 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715495 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.553ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.310ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142297 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142297 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.790ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.530ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693820 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693820 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.036ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.541ms + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635637 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635637 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 6.392ms + 4.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOjoint_trajectory_controllerGot request to cancel goal + 4.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.08sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878058.21275020 seconds ×3 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.15sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.15sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 4.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787878058.81281877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489026 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489026 ms (missed cycles : 4).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410456 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410456 ms (missed cycles : 3).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523678 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523678 ms (missed cycles : 3).[0m ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.52sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.52sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.52sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.52sINFOros2_control_nodeAccepted new action goal[0m ×10 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397969 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397969 ms (missed cycles : 3).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563447 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563447 ms (missed cycles : 3).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.075ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355215 ms (missed cycles : 3). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355215 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.356ms + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.783ms + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210934 ms (missed cycles : 3). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210934 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.186ms + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.959ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724664 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724664 ms (missed cycles : 3).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.905ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.638ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999196 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999196 ms (missed cycles : 2).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.225ms + 14.10sINFOamclParticle filter update iteration stats: 3793 particles 723 points - 5.625ms + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160369 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160369 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 3.864ms + 15.08sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.484ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816433 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816433 ms (missed cycles : 3).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.154ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730427 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730427 ms (missed cycles : 2).[0m ×2 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081454 ms (missed cycles : 2). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081454 ms (missed cycles : 2).[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518221 ms (missed cycles : 3). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518221 ms (missed cycles : 3).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997010 ms (missed cycles : 3). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997010 ms (missed cycles : 3).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494097 ms (missed cycles : 3). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494097 ms (missed cycles : 3).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690154 ms (missed cycles : 2). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690154 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566009 ms (missed cycles : 3). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566009 ms (missed cycles : 3).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431438 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431438 ms (missed cycles : 2).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465101 ms (missed cycles : 2). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465101 ms (missed cycles : 2).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662413 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662413 ms (missed cycles : 2).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240180 ms (missed cycles : 2). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240180 ms (missed cycles : 2).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275340 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275340 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 29.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018922 ms (missed cycles : 2). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018922 ms (missed cycles : 2).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 29.60sINFOros2_control_nodeMuJoCo sim: 2.95% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003235 ms (missed cycles : 2). + 30.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003235 ms (missed cycles : 2).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024157 ms (missed cycles : 2). + 31.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024157 ms (missed cycles : 2).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040006 ms (missed cycles : 2). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040006 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997443 ms (missed cycles : 5). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997443 ms (missed cycles : 5).[0m ×2 + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 34.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705635 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705635 ms (missed cycles : 2).[0m ×2 + 34.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788717 ms (missed cycles : 2). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788717 ms (missed cycles : 2).[0m ×2 + 35.89sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.90sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.41sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144082 ms (missed cycles : 3). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144082 ms (missed cycles : 3).[0m ×2 + 37.19sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 37.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440992 ms (missed cycles : 4). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440992 ms (missed cycles : 4).[0m ×2 + 38.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716452 ms (missed cycles : 2). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716452 ms (missed cycles : 2).[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516407 ms (missed cycles : 4). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516407 ms (missed cycles : 4).[0m ×2 + 40.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 40.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843121 ms (missed cycles : 2). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843121 ms (missed cycles : 2).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625768 ms (missed cycles : 3). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625768 ms (missed cycles : 3).[0m ×2 + 42.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 42.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343879 ms (missed cycles : 3). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343879 ms (missed cycles : 3).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287296 ms (missed cycles : 4). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287296 ms (missed cycles : 4).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239943 ms (missed cycles : 4). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239943 ms (missed cycles : 4).[0m ×2 + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551159 ms (missed cycles : 4). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551159 ms (missed cycles : 4).[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655386 ms (missed cycles : 3). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655386 ms (missed cycles : 3).[0m ×2 + 48.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937286 ms (missed cycles : 3). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937286 ms (missed cycles : 3).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 49.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002033 ms (missed cycles : 4). + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002033 ms (missed cycles : 4).[0m ×2 + 49.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 50.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400128 ms (missed cycles : 3). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400128 ms (missed cycles : 3).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 51.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695502 ms (missed cycles : 2). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695502 ms (missed cycles : 2).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 52.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118405 ms (missed cycles : 3). + 52.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118405 ms (missed cycles : 3).[0m ×2 + 53.66sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767597 ms (missed cycles : 2). + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767597 ms (missed cycles : 2).[0m ×2 + 55.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270884 ms (missed cycles : 3). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270884 ms (missed cycles : 3).[0m ×2 + 56.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509085 ms (missed cycles : 3). + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509085 ms (missed cycles : 3).[0m ×2 + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493458 ms (missed cycles : 3). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493458 ms (missed cycles : 3).[0m ×2 + 58.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 58.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055486 ms (missed cycles : 4). + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055486 ms (missed cycles : 4).[0m ×2 + 59.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 59.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642796 ms (missed cycles : 4). + 59.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642796 ms (missed cycles : 4).[0m ×2 + 60.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 60.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578133 ms (missed cycles : 3). + 60.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578133 ms (missed cycles : 3).[0m ×2 + 61.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 61.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423947 ms (missed cycles : 3). + 61.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423947 ms (missed cycles : 3).[0m ×2 + 61.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 62.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093783 ms (missed cycles : 3). + 62.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093783 ms (missed cycles : 3).[0m ×2 + 62.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 63.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974140 ms (missed cycles : 3). + 63.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974140 ms (missed cycles : 3).[0m ×2 + 63.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 64.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951146 ms (missed cycles : 2). + 64.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951146 ms (missed cycles : 2).[0m ×2 + 64.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 65.79sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 65.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038134 ms (missed cycles : 3). + 65.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038134 ms (missed cycles : 3).[0m ×2 + 66.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376534 ms (missed cycles : 4). + 66.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376534 ms (missed cycles : 4).[0m ×2 + 67.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366501 ms (missed cycles : 2). + 67.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366501 ms (missed cycles : 2).[0m ×2 + 68.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918161 ms (missed cycles : 2). + 68.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918161 ms (missed cycles : 2).[0m ×2 + 69.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964505 ms (missed cycles : 3). + 69.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964505 ms (missed cycles : 3).[0m ×2 + 70.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983177 ms (missed cycles : 2). + 70.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983177 ms (missed cycles : 2).[0m ×2 + 71.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 71.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721808 ms (missed cycles : 2). + 71.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721808 ms (missed cycles : 2).[0m ×2 + 72.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 73.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561887 ms (missed cycles : 2). + 73.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561887 ms (missed cycles : 2).[0m ×2 + 73.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 74.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232691 ms (missed cycles : 3). + 74.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232691 ms (missed cycles : 3).[0m ×2 + 74.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 75.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575682 ms (missed cycles : 2). + 75.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575682 ms (missed cycles : 2).[0m ×2 + 75.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 76.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 76.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441536 ms (missed cycles : 3). + 76.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441536 ms (missed cycles : 3).[0m ×2 + 77.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 77.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859664 ms (missed cycles : 3). + 77.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859664 ms (missed cycles : 3).[0m ×2 + 78.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563419 ms (missed cycles : 5). + 78.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563419 ms (missed cycles : 5).[0m ×2 + 78.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787878132.68298078 seconds ×3 + 78.65sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 14.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.65sWARNlocal_costmap.local_costmapSensor origin at (-3.01, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.410ms + 78.75sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 9.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.75sWARNlocal_costmap.local_costmapSensor origin at (-2.28, 9.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.523ms + 79.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787878133.27125931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092248 ms (missed cycles : 3). + 79.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092248 ms (missed cycles : 3).[0m ×2 + 80.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432731 ms (missed cycles : 3). + 80.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432731 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.5s | 182 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2).[0m ×2 + 0.14sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.14sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787877890.81790042 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787877891.41202545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.971ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.0318e-05 s). ×2 + 1.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.86sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.86sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.86sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.86sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471311 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471311 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787877894.22228575 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662593 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662593 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787877894.81634998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390351 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390351 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891229 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891229 ms (missed cycles : 3).[0m ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256310 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256310 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013145 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013145 ms (missed cycles : 4).[0m ×2 + 8.85sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.172ms + 9.45sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.277ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956394 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956394 ms (missed cycles : 2).[0m ×2 + 10.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 10.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152274 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152274 ms (missed cycles : 2).[0m ×2 + 11.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.710ms + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078880 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078880 ms (missed cycles : 3).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 12.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 13.05sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029468 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029468 ms (missed cycles : 2).[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 14.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775286 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775286 ms (missed cycles : 3).[0m ×2 + 14.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms ×2 + 15.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852911 ms (missed cycles : 3). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852911 ms (missed cycles : 3).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594340 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594340 ms (missed cycles : 3).[0m ×2 + 16.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 17.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744716 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744716 ms (missed cycles : 3).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 18.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529976 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529976 ms (missed cycles : 3).[0m ×2 + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428810 ms (missed cycles : 2). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428810 ms (missed cycles : 2).[0m ×2 + 20.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676824 ms (missed cycles : 3). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676824 ms (missed cycles : 3).[0m ×2 + 21.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 21.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570303 ms (missed cycles : 2). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570303 ms (missed cycles : 2).[0m ×2 + 22.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174307 ms (missed cycles : 4). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174307 ms (missed cycles : 4).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503978 ms (missed cycles : 3). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503978 ms (missed cycles : 3).[0m ×2 + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174006 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174006 ms (missed cycles : 3).[0m ×2 + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798927 ms (missed cycles : 4). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798927 ms (missed cycles : 4).[0m ×2 + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 26.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 26.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657546 ms (missed cycles : 4). + 26.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657546 ms (missed cycles : 4).[0m ×2 + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 27.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728948 ms (missed cycles : 2). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728948 ms (missed cycles : 2).[0m ×2 + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399315 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399315 ms (missed cycles : 3).[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 30.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670299 ms (missed cycles : 3). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670299 ms (missed cycles : 3).[0m ×2 + 30.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375813 ms (missed cycles : 4). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375813 ms (missed cycles : 4).[0m ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660136 ms (missed cycles : 2). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660136 ms (missed cycles : 2).[0m ×2 + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451901 ms (missed cycles : 3). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451901 ms (missed cycles : 3).[0m ×2 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439847 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439847 ms (missed cycles : 3).[0m ×2 + 34.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 35.34sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676105 ms (missed cycles : 4). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676105 ms (missed cycles : 4).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170922 ms (missed cycles : 2). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170922 ms (missed cycles : 2).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389656 ms (missed cycles : 3). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389656 ms (missed cycles : 3).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317066 ms (missed cycles : 4). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317066 ms (missed cycles : 4).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302719 ms (missed cycles : 4). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302719 ms (missed cycles : 4).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064174 ms (missed cycles : 4). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064174 ms (missed cycles : 4).[0m ×2 + 41.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222575 ms (missed cycles : 4). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222575 ms (missed cycles : 4).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971121 ms (missed cycles : 5). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971121 ms (missed cycles : 5).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680448 ms (missed cycles : 3). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680448 ms (missed cycles : 3).[0m ×2 + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213818 ms (missed cycles : 4). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213818 ms (missed cycles : 4).[0m ×2 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009604 ms (missed cycles : 4). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009604 ms (missed cycles : 4).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827316 ms (missed cycles : 4). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827316 ms (missed cycles : 4).[0m ×2 + 48.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183687 ms (missed cycles : 3). + 48.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183687 ms (missed cycles : 3).[0m ×2 + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484325 ms (missed cycles : 3). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484325 ms (missed cycles : 3).[0m ×2 + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 50.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260089 ms (missed cycles : 3). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260089 ms (missed cycles : 3).[0m ×2 + 51.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061003 ms (missed cycles : 2). + 51.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061003 ms (missed cycles : 2).[0m ×2 + 51.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825162 ms (missed cycles : 2). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825162 ms (missed cycles : 2).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304719 ms (missed cycles : 3). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304719 ms (missed cycles : 3).[0m ×2 + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740394 ms (missed cycles : 3). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740394 ms (missed cycles : 3).[0m ×2 + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047688 ms (missed cycles : 4). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047688 ms (missed cycles : 4).[0m ×2 + 56.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484575 ms (missed cycles : 3). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484575 ms (missed cycles : 3).[0m ×2 + 57.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3). + 57.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3).[0m ×2 + 59.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2). + 59.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2).[0m ×2 + 59.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 60.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4). + 60.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4).[0m ×2 + 61.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787877951.68657875 seconds ×3 + 61.11sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.943ms + 61.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3). + 61.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3).[0m ×2 + 61.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787877952.28512859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.12sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 62.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2). + 62.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2).[0m ×2 + 62.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3). + 63.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 182 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.49sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486236 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486236 ms (missed cycles : 3).[0m ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.82sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.82sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302537 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302537 ms (missed cycles : 2).[0m ×2 + 8.14sINFOros2_control_nodeMuJoCo sim: 4.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032761 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032761 ms (missed cycles : 2).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 9.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.195ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366015 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366015 ms (missed cycles : 2).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.884ms + 10.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.767ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078024 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078024 ms (missed cycles : 3).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.680ms + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.492ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263722 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263722 ms (missed cycles : 2).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.131ms + 12.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.911ms + 12.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.484ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953523 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953523 ms (missed cycles : 2).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.816ms + 13.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.595ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565381 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565381 ms (missed cycles : 3).[0m ×2 + 14.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.828ms + 14.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725804 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725804 ms (missed cycles : 4).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.744ms + 15.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.442ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571304 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571304 ms (missed cycles : 3).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.757ms + 16.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.995ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699155 ms (missed cycles : 3). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699155 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.953ms + 17.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.906ms + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958438 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958438 ms (missed cycles : 3).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.497ms + 18.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.193ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364211 ms (missed cycles : 4). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364211 ms (missed cycles : 4).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.162ms + 19.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.924ms + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034727 ms (missed cycles : 2). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034727 ms (missed cycles : 2).[0m ×2 + 20.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 20.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.651ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898059 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898059 ms (missed cycles : 3).[0m ×2 + 21.42sINFOamclParticle filter update iteration stats: 4487 particles 723 points - 6.002ms + 21.92sINFOamclParticle filter update iteration stats: 3793 particles 723 points - 5.113ms + 22.42sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.252ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153289 ms (missed cycles : 4). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153289 ms (missed cycles : 4).[0m ×2 + 22.92sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 3.649ms + 23.42sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.841ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875641 ms (missed cycles : 2). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875641 ms (missed cycles : 2).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.583ms + 24.42sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.296ms + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452995 ms (missed cycles : 3). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452995 ms (missed cycles : 3).[0m ×2 + 24.92sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.225ms + 25.42sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.790ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840820 ms (missed cycles : 3). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840820 ms (missed cycles : 3).[0m ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.611ms + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581016 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581016 ms (missed cycles : 3).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500007 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500007 ms (missed cycles : 2).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492249 ms (missed cycles : 3). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492249 ms (missed cycles : 3).[0m ×2 + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494377 ms (missed cycles : 3). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494377 ms (missed cycles : 3).[0m ×2 + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596218 ms (missed cycles : 2). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596218 ms (missed cycles : 2).[0m ×2 + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350183 ms (missed cycles : 2). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350183 ms (missed cycles : 2).[0m ×2 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 32.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742658 ms (missed cycles : 3). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742658 ms (missed cycles : 3).[0m ×2 + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379167 ms (missed cycles : 4). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379167 ms (missed cycles : 4).[0m ×2 + 34.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 35.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846502 ms (missed cycles : 2). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846502 ms (missed cycles : 2).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198353 ms (missed cycles : 4). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198353 ms (missed cycles : 4).[0m ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385189 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385189 ms (missed cycles : 3).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879782 ms (missed cycles : 2). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879782 ms (missed cycles : 2).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313395 ms (missed cycles : 3). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313395 ms (missed cycles : 3).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141090 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141090 ms (missed cycles : 2).[0m ×2 + 41.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655392 ms (missed cycles : 3). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655392 ms (missed cycles : 3).[0m ×2 + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299401 ms (missed cycles : 2). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299401 ms (missed cycles : 2).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394670 ms (missed cycles : 3). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394670 ms (missed cycles : 3).[0m ×2 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740529 ms (missed cycles : 3). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740529 ms (missed cycles : 3).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623174 ms (missed cycles : 3). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623174 ms (missed cycles : 3).[0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449929 ms (missed cycles : 4). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449929 ms (missed cycles : 4).[0m ×2 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795438 ms (missed cycles : 4). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795438 ms (missed cycles : 4).[0m ×2 + 49.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728258 ms (missed cycles : 2). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728258 ms (missed cycles : 2).[0m ×2 + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968128 ms (missed cycles : 2). + 50.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968128 ms (missed cycles : 2).[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192338 ms (missed cycles : 2). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192338 ms (missed cycles : 2).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 52.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777346 ms (missed cycles : 4). + 52.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777346 ms (missed cycles : 4).[0m ×2 + 53.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508838 ms (missed cycles : 4). + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508838 ms (missed cycles : 4).[0m ×2 + 54.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406964 ms (missed cycles : 4). + 54.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406964 ms (missed cycles : 4).[0m ×2 + 55.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.206509 ms (missed cycles : 5). + 55.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.206509 ms (missed cycles : 5).[0m ×2 + 56.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414874 ms (missed cycles : 3). + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414874 ms (missed cycles : 3).[0m ×2 + 57.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 57.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382730 ms (missed cycles : 3). + 57.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382730 ms (missed cycles : 3).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042059 ms (missed cycles : 3). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042059 ms (missed cycles : 3).[0m ×2 + 59.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722202 ms (missed cycles : 2). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722202 ms (missed cycles : 2).[0m ×2 + 60.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787878196.50764608 seconds ×3 + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803201 ms (missed cycles : 2). + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803201 ms (missed cycles : 2).[0m ×2 + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.020ms + 61.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787878197.10178614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.93sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 62.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669538 ms (missed cycles : 2). + 62.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669538 ms (missed cycles : 2).[0m ×2 + 62.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801501 ms (missed cycles : 2). + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801501 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 56.3s | 1 error · 179 warnings · 191 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.77sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787877990.90999532 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.182ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787877991.49644065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3).[0m ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579042 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579042 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487600 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487600 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.903ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368571 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368571 ms (missed cycles : 3).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.145ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668805 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668805 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.615ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.576ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381798 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381798 ms (missed cycles : 3).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.837ms + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.712ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134301 ms (missed cycles : 4). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134301 ms (missed cycles : 4).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.940ms + 13.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.839ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203029 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203029 ms (missed cycles : 2).[0m ×2 + 14.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.813ms + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375743 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375743 ms (missed cycles : 3).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.491ms + 15.51sINFOamclParticle filter update iteration stats: 4838 particles 723 points - 6.656ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632858 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632858 ms (missed cycles : 3).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 4704 particles 723 points - 7.567ms + 16.50sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 5.508ms + 17.01sINFOamclParticle filter update iteration stats: 4880 particles 723 points - 6.024ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288498 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288498 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 6.422ms + 18.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.756ms + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944826 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944826 ms (missed cycles : 2).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.453ms + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.640ms + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571886 ms (missed cycles : 5). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571886 ms (missed cycles : 5).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.427ms + 20.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.549ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485544 ms (missed cycles : 4). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485544 ms (missed cycles : 4).[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.753ms + 21.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.478ms + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661472 ms (missed cycles : 3). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661472 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.374ms + 22.00sINFOamclParticle filter update iteration stats: 4311 particles 723 points - 5.951ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585402 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585402 ms (missed cycles : 3).[0m ×2 + 22.51sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 5.719ms + 23.00sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 3.732ms + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400128 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400128 ms (missed cycles : 3).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 3.148ms + 24.00sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 2.237ms + 24.50sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.730ms + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772614 ms (missed cycles : 3). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772614 ms (missed cycles : 3).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.278ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733148 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733148 ms (missed cycles : 2).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367398 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367398 ms (missed cycles : 2).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092351 ms (missed cycles : 4). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092351 ms (missed cycles : 4).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968971 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968971 ms (missed cycles : 2).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714601 ms (missed cycles : 2). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714601 ms (missed cycles : 2).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731821 ms (missed cycles : 4). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731821 ms (missed cycles : 4).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880406 ms (missed cycles : 2). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880406 ms (missed cycles : 2).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456653 ms (missed cycles : 3). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456653 ms (missed cycles : 3).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785871 ms (missed cycles : 4). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785871 ms (missed cycles : 4).[0m ×2 + 34.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284088 ms (missed cycles : 2). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284088 ms (missed cycles : 2).[0m ×2 + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867421 ms (missed cycles : 4). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867421 ms (missed cycles : 4).[0m ×2 + 36.60sINFOros2_control_nodeMuJoCo sim: 2.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.16sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468651 ms (missed cycles : 3). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468651 ms (missed cycles : 3).[0m ×2 + 37.94sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703499 ms (missed cycles : 3). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703499 ms (missed cycles : 3).[0m ×2 + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272892 ms (missed cycles : 4). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272892 ms (missed cycles : 4).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 40.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988136 ms (missed cycles : 3). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988136 ms (missed cycles : 3).[0m ×2 + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549071 ms (missed cycles : 5). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549071 ms (missed cycles : 5).[0m ×2 + 41.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 42.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 42.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487918 ms (missed cycles : 4). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487918 ms (missed cycles : 4).[0m ×2 + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856350 ms (missed cycles : 3). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856350 ms (missed cycles : 3).[0m ×2 + 44.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381861 ms (missed cycles : 5). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381861 ms (missed cycles : 5).[0m ×2 + 45.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114836 ms (missed cycles : 4). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114836 ms (missed cycles : 4).[0m ×2 + 46.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163345 ms (missed cycles : 3). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163345 ms (missed cycles : 3).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946134 ms (missed cycles : 2). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946134 ms (missed cycles : 2).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699257 ms (missed cycles : 2). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699257 ms (missed cycles : 2).[0m ×2 + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756732 ms (missed cycles : 2). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756732 ms (missed cycles : 2).[0m ×2 + 50.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 51.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005377 ms (missed cycles : 4). + 51.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005377 ms (missed cycles : 4).[0m ×2 + 51.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 52.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484573 ms (missed cycles : 3). + 52.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484573 ms (missed cycles : 3).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 53.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 53.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226837 ms (missed cycles : 2). + 53.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226837 ms (missed cycles : 2).[0m ×2 + 54.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011790 ms (missed cycles : 4). + 54.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011790 ms (missed cycles : 4).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 55.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354005 ms (missed cycles : 3). + 55.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354005 ms (missed cycles : 3).[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090467 ms (missed cycles : 2). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090467 ms (missed cycles : 2).[0m ×2 + 57.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542389 ms (missed cycles : 3). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542389 ms (missed cycles : 3).[0m ×2 + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 59.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390150 ms (missed cycles : 3). + 59.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390150 ms (missed cycles : 3).[0m ×2 + 60.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467227 ms (missed cycles : 3). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467227 ms (missed cycles : 3).[0m ×2 + 60.14sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787878047.25658250 seconds ×3 + 60.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.742ms + 60.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787878047.83800769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295191 ms (missed cycles : 3). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295191 ms (missed cycles : 3).[0m ×2 + 61.10sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 62.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157977 ms (missed cycles : 3). + 62.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157977 ms (missed cycles : 3).[0m ×2 + 62.33sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1787878049.290685 but the latest data is at time 1787878049.190683, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 141 warnings · 266 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672101 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672101 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304683 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304683 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924565 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924565 ms (missed cycles : 3).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671149 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671149 ms (missed cycles : 3).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062659 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062659 ms (missed cycles : 3).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686503 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686503 ms (missed cycles : 2).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330471 ms (missed cycles : 4). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330471 ms (missed cycles : 4).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223522 ms (missed cycles : 3). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223522 ms (missed cycles : 3).[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861109 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861109 ms (missed cycles : 3).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797808 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797808 ms (missed cycles : 3).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346722 ms (missed cycles : 3). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346722 ms (missed cycles : 3).[0m ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927116 ms (missed cycles : 3). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927116 ms (missed cycles : 3).[0m ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796944 ms (missed cycles : 3). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796944 ms (missed cycles : 3).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269608 ms (missed cycles : 2). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269608 ms (missed cycles : 2).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 2.179ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000659 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000659 ms (missed cycles : 2).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810028 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810028 ms (missed cycles : 2).[0m ×2 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045072 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045072 ms (missed cycles : 2).[0m ×2 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160284 ms (missed cycles : 3). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160284 ms (missed cycles : 3).[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243449 ms (missed cycles : 2). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243449 ms (missed cycles : 2).[0m ×2 + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205190 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205190 ms (missed cycles : 2).[0m ×2 + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021341 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021341 ms (missed cycles : 2).[0m ×2 + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821902 ms (missed cycles : 3). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821902 ms (missed cycles : 3).[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599678 ms (missed cycles : 2). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599678 ms (missed cycles : 2).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331090 ms (missed cycles : 2). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331090 ms (missed cycles : 2).[0m ×2 + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256595 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256595 ms (missed cycles : 2).[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903112 ms (missed cycles : 2). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903112 ms (missed cycles : 2).[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143818 ms (missed cycles : 3). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143818 ms (missed cycles : 3).[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011561 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011561 ms (missed cycles : 2).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148357 ms (missed cycles : 2). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148357 ms (missed cycles : 2).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752431 ms (missed cycles : 3). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752431 ms (missed cycles : 3).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507566 ms (missed cycles : 3). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507566 ms (missed cycles : 3).[0m ×2 + 40.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360645 ms (missed cycles : 3). + 40.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360645 ms (missed cycles : 3).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648026 ms (missed cycles : 3). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648026 ms (missed cycles : 3).[0m ×2 + 42.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695515 ms (missed cycles : 2). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695515 ms (missed cycles : 2).[0m ×2 + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652609 ms (missed cycles : 3). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652609 ms (missed cycles : 3).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2).[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2).[0m ×2 + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2).[0m ×2 + 47.71sINFOjoint_trajectory_controllerGoal reached, success! + 47.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787877890.81790042 seconds ×3 + 47.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787877891.41202545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.52sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.971ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3).[0m ×2 + 49.40sINFOobjective_server_nodeFound path in 0 iterations (3.0318e-05 s). ×2 + 49.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 113 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961002 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961002 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248541 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248541 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582961 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582961 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787877958.17527175 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182009 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182009 ms (missed cycles : 3).[0m ×2 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459797 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459797 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787877959.75981331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544059 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544059 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762437 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762437 ms (missed cycles : 3).[0m ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.27sINFOjoint_trajectory_controllerReceived new action goal + 7.27sINFOjoint_trajectory_controllerAccepted new action goal + 7.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894919 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894919 ms (missed cycles : 2).[0m ×2 + 8.48sINFOros2_control_nodeMuJoCo sim: 2.25% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419058 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419058 ms (missed cycles : 3).[0m ×2 + 9.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950280 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950280 ms (missed cycles : 3).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.470ms + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.073ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420471 ms (missed cycles : 4). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420471 ms (missed cycles : 4).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.533ms + 11.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.131ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544572 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544572 ms (missed cycles : 3).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.592ms + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.773ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155535 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155535 ms (missed cycles : 4).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 13.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.175ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066721 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066721 ms (missed cycles : 3).[0m ×2 + 13.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.106ms + 14.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.275ms + 14.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.154ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811456 ms (missed cycles : 5). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811456 ms (missed cycles : 5).[0m ×2 + 15.37sINFOamclParticle filter update iteration stats: 4756 particles 723 points - 6.221ms + 15.88sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 4.854ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183067 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183067 ms (missed cycles : 3).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 4.096ms + 16.88sINFOamclParticle filter update iteration stats: 2888 particles 723 points - 3.446ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749966 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749966 ms (missed cycles : 2).[0m ×2 + 17.38sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 3.482ms + 17.88sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 2.663ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343347 ms (missed cycles : 3). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343347 ms (missed cycles : 3).[0m ×2 + 18.38sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.427ms + 18.88sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.100ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669029 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669029 ms (missed cycles : 2).[0m ×2 + 19.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054596 ms (missed cycles : 4). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054596 ms (missed cycles : 4).[0m ×2 + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238283 ms (missed cycles : 2). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238283 ms (missed cycles : 2).[0m ×2 + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406139 ms (missed cycles : 4). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406139 ms (missed cycles : 4).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 22.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393068 ms (missed cycles : 3). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393068 ms (missed cycles : 3).[0m ×2 + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095186 ms (missed cycles : 4). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095186 ms (missed cycles : 4).[0m ×2 + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 25.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816087 ms (missed cycles : 2). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816087 ms (missed cycles : 2).[0m ×2 + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634038 ms (missed cycles : 2). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634038 ms (missed cycles : 2).[0m ×2 + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244966 ms (missed cycles : 3). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244966 ms (missed cycles : 3).[0m ×2 + 27.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001702 ms (missed cycles : 3). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001702 ms (missed cycles : 3).[0m ×2 + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469453 ms (missed cycles : 4). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469453 ms (missed cycles : 4).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939823 ms (missed cycles : 4). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939823 ms (missed cycles : 4).[0m ×2 + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3).[0m ×2 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 33.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2).[0m ×2 + 34.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3).[0m ×2 + 35.67sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787877990.90999532 seconds ×3 + 35.83sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.83sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.182ms + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3).[0m ×2 + 36.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787877991.49644065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.65sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.0s | 68 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414874 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414874 ms (missed cycles : 3).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382730 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382730 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042059 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042059 ms (missed cycles : 3).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722202 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722202 ms (missed cycles : 2).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.09sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787878196.50764608 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803201 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803201 ms (missed cycles : 2).[0m ×2 + 4.30sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.30sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.020ms + 4.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787878197.10178614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669538 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669538 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801501 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801501 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175395 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175395 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108352 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108352 ms (missed cycles : 3).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636530 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636530 ms (missed cycles : 3).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650105 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650105 ms (missed cycles : 3).[0m ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 11.36sINFOros2_control_nodeMuJoCo sim: 4.15% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.40sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.59sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587473 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587473 ms (missed cycles : 3).[0m ×2 + 11.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.98sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 12.37sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 12.57sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 12.65sINFOobjective_server_nodeFound path in 33 iterations (0.0324263 s). ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267033 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267033 ms (missed cycles : 2).[0m ×2 + 13.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 13.17sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 13.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 14.10sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009066 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009066 ms (missed cycles : 2).[0m ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658060 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658060 ms (missed cycles : 3).[0m ×2 + 15.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.818ms + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844109 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844109 ms (missed cycles : 2).[0m ×2 + 16.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 17.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.384ms + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2).[0m ×2 + 17.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.826ms + 18.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.809ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.660ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3).[0m ×2 + 20.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787878212.46383882 seconds ×3 + 20.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.027ms + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3).[0m ×2 + 20.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878213.08254743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.72sINFOmove_groupClearing octomap...[0m ×2 + 20.72sINFOmove_groupOctomap cleared.[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2).[0m ×2 + 21.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878213.86269331 seconds ×3 + 22.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878214.44035077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3).[0m ×2 + 22.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878215.18047428 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 94 errors · 36 warnings · 430 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.826ms + 1.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.809ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.660ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3).[0m ×2 + 2.77sINFOjoint_trajectory_controllerGoal reached, success! + 2.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787878212.46383882 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.027ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878213.08254743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.42sINFOmove_groupClearing octomap...[0m ×2 + 3.42sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878213.86269331 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878214.44035077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878215.18047428 seconds ×3 + 5.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905735 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905735 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859822 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859822 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555120 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555120 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634971 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634971 ms (missed cycles : 3).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840689 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840689 ms (missed cycles : 3).[0m ×2 + 11.17sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.24sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORweb_video_auth_proxy-35process has died [pid 7944, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.25sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.30sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORweb_bridge_auth_proxy-34process has died [pid 7941, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.31sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.44sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.46sINFOvideo_server-33process has finished cleanly [pid 7940] ×2 + 11.47sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.49sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066499 ms (missed cycles : 3). + 11.51sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.53sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.56sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.59sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.63sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.65sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.67sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.71sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.73sINFOtf2_web_republisher_node-32process has finished cleanly [pid 7939] ×2 + 11.75sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.78sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.81sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.81sINFOcontroller_managerShutdown request received.... + 11.82sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.82sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.82sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.82sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.82sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.82sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.82sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.82sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.82sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.82sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.82sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.82sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.82sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.82sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.82sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.82sINFOcontroller_managerShutting down the controller manager. + 11.82sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787878221.191 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.84sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.84sINFOui_teleop_bridge-30process has finished cleanly [pid 7921] ×2 + 11.84sERRORmove_group-21process has died [pid 7906, 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_v1cj4apd --params-file /tmp/launch_params_y5dy624v --params-file /tmp/launch_params_ae5xtu3d --params-file /tmp/launch_params_3javwjis --params-file /tmp/launch_params_u6wgencj --params-file /tmp/launch_params_ux7kamsl']. ×2 + 11.84sINFOcomponent_container_mt-28process has finished cleanly [pid 7919] ×2 + 11.86sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.88sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.89sINFOexecute_objective_bridge-29process has finished cleanly [pid 7920] ×2 + 11.91sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.94sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.97sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.99sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.99sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.99sINFOmap_serverDeactivating + 11.99sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.00sINFOmap_serverCleaning up + 12.00sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.00sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.01sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.01sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.01sINFOcontroller_serverDeactivating + 12.01sINFOlocal_costmap.local_costmapDeactivating + 12.01sINFOvideo_server2026/08/28 00:50:21 INF shutting down gracefully ×2 + 12.01sINFOvideo_server2026/08/28 00:50:21 INF [WebRTC] closing ×2 + 12.01sINFOvideo_server2026/08/28 00:50:21 INF [RTSP] closing ×2 + 12.01sINFOvideo_server2026/08/28 00:50:21 INF waiting for running hooks ×2 + 12.01sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066499 ms (missed cycles : 3).[0m ×2 + 12.01sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.01sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.02sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.02sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.02sERRORamclThe bond connection to the lifecycle manager has been broken + 12.02sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.02sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.02sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.02sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.02sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.02sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.02sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.02sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.02sERRORmove_groupStack trace (most recent call last) in thread 8505: ×2 + 12.02sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.02sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa7a957a63, in __clone ×2 + 12.02sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa7a8caaa3, in ×2 + 12.02sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa7ab5cdb3, in ×2 + 12.02sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7faa7b2cda47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.02sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa7aeee620, in rclcpp::Rate::sleep() ×2 + 12.03sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa7ae30d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.03sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa7adf2087, in ×2 + 12.03sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa7ab2b390, in __cxa_throw ×2 + 12.03sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa7ab15a54, in std::terminate() ×2 + 12.03sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa7ab2b0d9, in ×2 + 12.03sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa7ab15ff4, in ×2 + 12.03sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa7a8568fe, in abort ×2 + 12.03sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa7a87327d, in raise ×2 + 12.03sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa7a8ccb2c, in pthread_kill ×2 + 12.03sERRORmove_groupAborted (Signal sent by tkill() 7906 0) ×2 + 12.03sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.03sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.03sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.03sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.03sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.03sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.03sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.03sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.03sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.03sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.03sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.03sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.03sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.03sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.03sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.03sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.03sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.04sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.04sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.04sINFOodom_qos_relay.pymain() ×2 + 12.04sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.04sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.04sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.04sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.04sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.04sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.04sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.04sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.04sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.04sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.04sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.04sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.04sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.04sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.04sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.04sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.04sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.04sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.05sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.09sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.10sINFOcontroller_serverCleaning up + 12.11sINFOlocal_costmap.local_costmapCleaning up + 12.15sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.15sINFOsmoother_serverDeactivating + 12.15sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.16sINFOsmoother_serverCleaning up + 12.17sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.17sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.17sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.17sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.17sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.18sINFOvelocity_smootherDeactivating + 12.18sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.18sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.18sINFOplanner_serverDeactivating + 12.18sINFOglobal_costmap.global_costmapDeactivating + 12.23sERRORcomponent_container_isolated-2process has died [pid 7792, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_h3zyw137 --params-file /tmp/launch_params_jvc51vw9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.29sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.29sINFOwaypoint_followerDeactivating + 12.29sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.40sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.40sINFObt_navigatorDeactivating + 12.40sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.52sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.52sINFObehavior_serverDeactivating + 12.52sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.63sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.63sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.63sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 12.63sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.63sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.63sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.63sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.63sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.63sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.63sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.63sINFOvelocity_smootherCleaning up + 12.63sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.63sINFOwaypoint_followerCleaning up + 12.66sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.66sINFObt_navigatorCleaning up + 12.68sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 7916] ×2 + 12.72sINFOmove_joint_resampler_node-24process has finished cleanly [pid 7915] ×2 + 12.73sINFOobjective_server_node[2026-08-28 00:50:22.400] [moveit_pro_license] [critical] ×2 + 12.73sINFOobjective_server_node************************************************* ×4 + 12.73sINFOobjective_server_node* MoveIt Pro License ×2 + 12.73sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.79sINFOcomponent_container_mt-27process has finished cleanly [pid 7918] ×2 + 12.80sINFOobjective_server_node_main-26process has finished cleanly [pid 7917] ×2 + 12.80sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.81sINFOparameter_manager_node-22process has finished cleanly [pid 7907] ×2 + 12.81sINFOwaypoint_manager_node-23process has finished cleanly [pid 7908] ×2 + 12.84sINFObt_navigatorCompleted Cleaning up + 12.84sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.84sINFObehavior_serverCleaning up + 12.88sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7798] ×2 + 12.90sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.90sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.90sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.90sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.90sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.90sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.90sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.91sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 7797] ×2 + 12.98sINFOstatic_transform_publisher-4process has finished cleanly [pid 7794] ×2 + 12.99sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7796] ×2 + 13.01sINFOstatic_transform_publisher-3process has finished cleanly [pid 7793] ×2 + 13.02sERRORodom_qos_relay.py-5process has died [pid 7795, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.13sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.13sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.14sINFOplanner_serverCleaning up + 13.16sINFOglobal_costmap.global_costmapCleaning up + 13.16sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.16sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.20sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.20sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.20sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.20sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.20sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.53sERRORcomponent_container_isolated-1process has died [pid 7791, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_h3zyw137 --params-file /tmp/launch_params_juv5njlz -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.29sINFOweb_bridge-31process has finished cleanly [pid 7922] ×2 + 14.29sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.54sINFOros2_control_node-9process has finished cleanly [pid 7799] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 4 errors · 50 warnings · 112 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090467 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090467 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542389 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542389 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390150 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390150 ms (missed cycles : 3).[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467227 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467227 ms (missed cycles : 3).[0m ×2 + 3.91sINFOjoint_trajectory_controllerGoal reached, success! + 3.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787878047.25658250 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.742ms + 4.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787878047.83800769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295191 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295191 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157977 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157977 ms (missed cycles : 3).[0m ×2 + 6.13sERRORdual_laser_mergerTransform failure, Laser 1: Lookup would require extrapolation into the future. Requested time 1787878049.290685 but the latest data is at time 1787878049.190683, when looking up transform from frame [lidar_front_ROS_calibrated] to frame [ridgeback_base_link] + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435551 ms (missed cycles : 3). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435551 ms (missed cycles : 3).[0m ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.25sINFOjoint_trajectory_controllerReceived new action goal + 7.25sINFOjoint_trajectory_controllerAccepted new action goal + 7.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457436 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457436 ms (missed cycles : 3).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.451ms + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869067 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869067 ms (missed cycles : 2).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.508ms + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.135ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438267 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438267 ms (missed cycles : 3).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715495 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715495 ms (missed cycles : 3).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.553ms + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.310ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142297 ms (missed cycles : 4). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142297 ms (missed cycles : 4).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.790ms + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.530ms + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693820 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693820 ms (missed cycles : 2).[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.036ms + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.541ms + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635637 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635637 ms (missed cycles : 3).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 6.392ms + 14.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOjoint_trajectory_controllerGot request to cancel goal + 14.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878058.21275020 seconds ×3 + 14.95sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.95sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 15.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787878058.81281877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489026 ms (missed cycles : 4). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489026 ms (missed cycles : 4).[0m ×2 + 15.91sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410456 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410456 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.5s | 41 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787877951.68657875 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.943ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787877952.28512859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961002 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961002 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248541 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248541 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582961 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582961 ms (missed cycles : 3).[0m ×2 + 9.72sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787877958.17527175 seconds ×3 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182009 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182009 ms (missed cycles : 3).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459797 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459797 ms (missed cycles : 3).[0m ×2 + 11.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787877959.75981331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544059 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544059 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762437 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762437 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 40 warnings · 94 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575682 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575682 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441536 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441536 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859664 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859664 ms (missed cycles : 3).[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563419 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563419 ms (missed cycles : 5).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787878132.68298078 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 14.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.01, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.410ms + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 9.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-2.28, 9.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.523ms + 4.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787878133.27125931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092248 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092248 ms (missed cycles : 3).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432731 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432731 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 10.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 30 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787877890.81790042 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787877891.41202545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.971ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.0318e-05 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471311 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471311 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787877894.22228575 seconds ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662593 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662593 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787877894.81634998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390351 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390351 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891229 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891229 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 24 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844109 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844109 ms (missed cycles : 2).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.384ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.826ms + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.809ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.660ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787878212.46383882 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.027ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878213.08254743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.48sINFOmove_groupOctomap cleared.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878213.86269331 seconds ×3 + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878214.44035077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878215.18047428 seconds ×3 + 6.81sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905735 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905735 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672101 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672101 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787877890.81790042 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787877891.41202545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.971ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.0318e-05 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153924 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032347 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672608 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787877890.81790042 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787877891.41202545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.971ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3).[0m ×2 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (3.0318e-05 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677156 ms (missed cycles : 2).[0m ×2 + 0.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787877890.81790042 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787877891.41202545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.971ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655919 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.0318e-05 s). ×2 + 1.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sINFOjoint_trajectory_controllerReceived new action goal + 1.86sINFOjoint_trajectory_controllerAccepted new action goal + 1.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151435 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471311 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471311 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787877894.22228575 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662593 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662593 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787877894.81634998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390351 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390351 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891229 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891229 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 20 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787877951.68657875 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.943ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787877952.28512859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 20 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787877951.68657875 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.943ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787877952.28512859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 20 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787877951.68657875 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.943ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787877952.28512859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 20 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787877951.68657875 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.943ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787877952.28512859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 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 | 20 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692646 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534850 ms (missed cycles : 2).[0m ×2 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493357 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787877951.68657875 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.943ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917765 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787877952.28512859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×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 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031655 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460918 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787877990.90999532 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.182ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787877991.49644065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787877990.90999532 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.182ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787877991.49644065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686826 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514978 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923045 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385090 ms (missed cycles : 3).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787877990.90999532 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.182ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599607 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787877991.49644065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963310 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062696 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949268 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734496 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258810 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325763 ms (missed cycles : 2).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787878139.13139772 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787878139.72751641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793627 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844109 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844109 ms (missed cycles : 2).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.384ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237954 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.826ms + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.809ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297556 ms (missed cycles : 3).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.660ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801735 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787878212.46383882 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.027ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459076 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878213.08254743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.48sINFOmove_groupOctomap cleared.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253939 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878213.86269331 seconds ×3 + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878214.44035077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919709 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878215.18047428 seconds ×3 | ||||
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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 | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.16sINFOjoint_trajectory_controllerReceived new action goal + 7.16sINFOjoint_trajectory_controllerAccepted new action goal + 7.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.16sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050683 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050683 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 2.67sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.18sINFOmove_groupClearing octomap...[0m ×2 + 4.18sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050683 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050683 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 2.67sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 3.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.18sINFOmove_groupClearing octomap...[0m ×2 + 4.18sINFOmove_groupOctomap cleared.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708095 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.17sINFOmove_groupClearing octomap...[0m ×2 + 3.17sINFOmove_groupOctomap cleared.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672101 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672101 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 | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875990 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 1.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272146 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877845.21629858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877845.22649217 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882797 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877845.80785322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877845.81799698 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329637 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877846.39394546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877846.54449844 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877847.16832900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877847.22846341 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534317 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787877847.81767082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251517 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||