MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.2s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.8s	12 errors · 304 warnings · 1508 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/2026-09-03-18-41-07-962356-6ef229fbb30a-7516 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.24sINFOstatic_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' + 4.24sINFOstatic_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' + 4.29sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.31sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.34sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.34sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.35sINFOmap_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. + 4.35sINFOmap_serverCreating + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.35sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.36sINFOcontroller_managerupdate rate is 600 Hz + 4.36sINFOcontroller_managerOverruns handling is : enabled + 4.36sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.36sWARNcontroller_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. + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034752 ms (missed cycles : 7). + 4.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.49sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.51sINFOlifecycle_manager_localizationCreating + 4.53sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.54sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.54sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.54sINFOmap_serverConfiguring + 4.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.56sINFOros2_control_node-9process started with pid [7574] ×2 + 4.56sINFOmove_group-21process started with pid [7687] ×2 + 4.56sINFOcontroller_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. + 4.56sINFOparameter_manager_node-22process started with pid [7688] ×2 + 4.56sINFOwaypoint_manager_node-23process started with pid [7689] ×2 + 4.56sINFOmove_joint_resampler_node-24process started with pid [7706] ×2 + 4.56sINFOmove_end_effector_resampler_node-25process started with pid [7707] ×2 + 4.56sINFOobjective_server_node_main-26process started with pid [7709] ×2 + 4.56sINFOcomponent_container_mt-27process started with pid [7710] ×2 + 4.56sINFOcomponent_container_mt-28process started with pid [7711] ×2 + 4.56sINFOexecute_objective_bridge-29process started with pid [7712] ×2 + 4.56sINFOui_teleop_bridge-30process started with pid [7713] ×2 + 4.56sINFOweb_bridge-31process started with pid [7714] ×2 + 4.58sINFOtf2_web_republisher_node-32process started with pid [7717] ×2 + 4.58sINFOvideo_server-33process started with pid [7733] ×2 + 4.58sINFOweb_bridge_auth_proxy-34process started with pid [7736] ×2 + 4.58sINFOweb_video_auth_proxy-35process started with pid [7737] ×2 + 4.59sINFOcomponent_container_isolated-1process started with pid [7566] ×2 + 4.59sINFOcomponent_container_isolated-2process started with pid [7567] ×2 + 4.59sINFOstatic_transform_publisher-3process started with pid [7568] ×2 + 4.59sINFOstatic_transform_publisher-4process started with pid [7569] ×2 + 4.59sINFOodom_qos_relay.py-5process started with pid [7570] ×2 + 4.59sINFOforward_stereo_publisher.py-6process started with pid [7571] ×2 + 4.59sINFOscan_to_scan_filter_chain-7process started with pid [7572] ×2 + 4.59sINFOscan_to_scan_filter_chain-8process started with pid [7573] ×2 + 4.59sINFOros2-10process started with pid [7657] ×2 + 4.59sINFOros2-11process started with pid [7658] ×2 + 4.59sINFOros2-12process started with pid [7660] ×2 + 4.59sINFOros2-13process started with pid [7661] ×2 + 4.59sINFOros2-14process started with pid [7662] ×2 + 4.59sINFOros2-15process started with pid [7663] ×2 + 4.59sINFOros2-16process started with pid [7664] ×2 + 4.59sINFOros2-17process started with pid [7665] ×2 + 4.59sINFOros2-18process started with pid [7666] ×2 + 4.59sINFOros2-19process started with pid [7668] ×2 + 4.59sINFOros2-20process started with pid [7686] ×2 + 4.60sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.60sINFOamclConfiguring + 4.60sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.60sINFOmap_serverActivating + 4.60sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.62sINFOcontroller_serverCreating controller server + 4.66sINFOlocal_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. + 4.66sINFOlocal_costmap.local_costmapCreating Costmap + 4.68sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 4.68sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 4.68sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.68sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.68sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.68sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.68sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.68sWARNros2_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 + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.034752 ms (missed cycles : 7).[0m ×2 + 4.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.72sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.72sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.72sINFOamclActivating + 4.73sINFOsmoother_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. + 4.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.73sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.74sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.75sINFOamclSubscribed to map_topic: /map + 4.75sINFOamclSubscribed to scan_topic: /scan_merged + 4.75sINFOamclCreated reinitialize_global_localization service + 4.75sINFOsmoother_serverCreating smoother server + 4.75sINFOamclCreated request_nomotion_update service + 4.75sINFOamclA new map was received + 4.75sINFOamclInitializing particle filter instance + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.82sINFOplanner_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. + 4.84sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.85sINFOplanner_serverCreating + 4.86sINFOglobal_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. + 4.86sINFOglobal_costmap.global_costmapCreating Costmap + 4.88sINFOvideo_server2026/09/03 18:41:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.88sINFOvideo_server2026/09/03 18:41:14 INF configuration loaded from /tmp/moveit-webrtc-hd1bxkvc/mediamtx.yml ×2 + 4.88sINFOvideo_server2026/09/03 18:41:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.88sINFOvideo_server2026/09/03 18:41:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.92sINFObehavior_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. + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.99sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.99sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.00sINFObt_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. + 5.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.02sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.03sINFObt_navigatorCreating + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.10sINFOwaypoint_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. + 5.10sINFOrobot_state_publisherRobot initialized + 5.10sINFOwaypoint_followerCreating + 5.10sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.11sINFOcontroller_managerReceived robot description from topic. + 5.11sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.11sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.11sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.15sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.16sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.16sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.17sINFOvelocity_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. + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.21sINFOlifecycle_manager_navigationCreating + 5.23sINFOamclParticle filter initialization completed + 5.23sINFOamclInitializing particles from estimated pose and covariance + 5.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.24sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.24sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.24sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.25sWARNlaser_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. + 5.25sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.25sWARNlaser_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. + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.26sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.26sWARNscan_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 + 5.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.27sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.27sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.28sINFOcontroller_serverConfiguring controller interface + 5.28sINFOcontroller_servergetting progress checker plugins.. + 5.28sINFOcontroller_servergetting goal checker plugins.. + 5.28sINFOcontroller_serverController frequency set to 20.0000Hz + 5.28sINFOlocal_costmap.local_costmapConfiguring + 5.28sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.31sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.33sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.33sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.33sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.34sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.37sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.370013 seconds + 5.37sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.37sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.37sINFOmove_groupLoaded robot model in 0.370013 seconds[0m ×2 + 5.37sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.37sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.39sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.40sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.40sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.41sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.43sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.45sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.47sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137681 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137681 ms (missed cycles : 5).[0m ×2 + 5.47sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.47sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.48sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.48sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.48sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.50sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.50sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.50sINFOcontroller_serverOptimizer reset ×2 + 5.52sINFOcontroller_serverController Server has FollowPath controllers available. + 5.53sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.54sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.54sINFOsmoother_serverConfiguring smoother server + 5.55sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.55sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.57sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.57sINFOplanner_serverConfiguring + 5.57sINFOglobal_costmap.global_costmapConfiguring + 5.59sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.59sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.60sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.60sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.61sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.64sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.64sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.66sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.70sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.70sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.72sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.73sINFOplanner_serverPlanner Server has GridBased planners available. + 5.75sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.75sINFObehavior_serverConfiguring + 5.76sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.76sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.77sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.77sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.78sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.79sINFObehavior_serverConfiguring spin + 5.80sINFObehavior_serverConfiguring backup + 5.80sINFObehavior_serverConfiguring drive_on_heading + 5.82sINFObehavior_serverConfiguring assisted_teleop + 5.83sINFObehavior_serverConfiguring wait + 5.84sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.85sINFObt_navigatorConfiguring + 5.85sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.86sWARNbt_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 + 5.90sINFOwaypoint_manager_nodeLoaded robot model in 0.248062 seconds[0m ×2 + 5.90sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 5.90sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.97sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.00sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.00sINFOwaypoint_followerConfiguring + 6.02sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.02sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.02sINFOvelocity_smootherConfiguring velocity smoother + 6.03sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.03sINFOcontroller_serverActivating + 6.03sINFOlocal_costmap.local_costmapActivating + 6.03sINFOlocal_costmap.local_costmapChecking transform + 6.03sINFOlocal_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 + 6.04sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.04sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.04sWARNmove_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. + 6.04sWARNmove_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. + 6.04sWARNmove_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. + 6.04sWARNmove_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 + 6.04sWARNmove_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. + 6.04sWARNmove_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. + 6.04sWARNmove_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 + 6.04sWARNmove_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. + 6.04sWARNmove_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 + 6.04sWARNmove_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 + 6.04sWARNmove_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. + 6.04sWARNmove_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. + 6.04sWARNmove_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 + 6.04sWARNmove_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 + 6.04sWARNmove_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 + 6.04sWARNmove_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 + 6.04sWARNmove_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. + 6.04sWARNmove_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. + 6.04sWARNmove_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 + 6.04sWARNmove_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.22sWARNwaypoint_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 + 6.22sWARNwaypoint_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. + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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. + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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 + 6.23sWARNwaypoint_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 + 6.33sINFOmove_group[2026-09-03 18:41:15.942] [moveit_pro_license] [info] ×2 + 6.33sINFOmove_group************************************************* ×4 + 6.33sINFOmove_group* MoveIt Pro License ×2 + 6.33sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.40sINFOwaypoint_manager_node[2026-09-03 18:41:16.009] [moveit_pro_license] [info] ×2 + 6.40sINFOwaypoint_manager_node************************************************* ×4 + 6.40sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.40sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.46sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.46sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.46sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.48sINFOros2_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 + 6.48sINFOros2_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 + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.78sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.78sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.78sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.78sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.78sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.79sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.79sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.79sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.80sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.80sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.80sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.80sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.80sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.84sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 6.84sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.85sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.32sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.32sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.32sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.32sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.32sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.32sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.32sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.32sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.32sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.32sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.32sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.32sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.32sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.32sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.32sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.32sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.32sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 7.32sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.32sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 7.32sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 7.32sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 7.32sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 7.32sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 7.32sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 7.32sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 7.32sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.32sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 7.32sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.33sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.33sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.33sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222553 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222553 ms (missed cycles : 2).[0m ×2 + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.38sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.41sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.41sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.41sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.41sINFOstreaming_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) + 7.41sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.41sINFOcomponent_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 + 7.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.41sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.55sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.55sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.55sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.55sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.55sINFOros2_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 + 7.55sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.55sWARNros2_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 + 7.55sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 7.55sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 7.57sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.57sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.58sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.58sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.58sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.58sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.58sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.58sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.58sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.59sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.59sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.59sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.60sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.61sINFOstreaming_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) + 7.62sINFOcomponent_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 + 7.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.63sINFOobjective_server_node[2026-09-03 18:41:17.244] [moveit_pro_license] [info] ×2 + 7.63sINFOobjective_server_node************************************************* ×4 + 7.63sINFOobjective_server_node* MoveIt Pro License ×2 + 7.63sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.68sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.70sINFOobjective_server_nodeLoaded robot model in 0.0225088 seconds[0m ×2 + 7.70sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.70sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.85sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.86sWARNcomponent_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 + 7.90sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.90sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.90sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.90sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 7.91sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 7.93sINFOros2-14process has finished cleanly [pid 7662] ×2 + 7.96sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.96sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.97sINFOforce_torque_sensor_broadcasterconfigure successful + 7.97sINFOros2_control_nodeconfigure successful[0m ×6 + 7.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.16sWARNobjective_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 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.16sWARNobjective_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 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.16sWARNobjective_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. + 8.16sWARNobjective_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 + 8.24sINFOobjective_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 + 8.24sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.26sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.26sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.26sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.26sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.26sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.26sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.26sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 8.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 8.28sINFOcomponent_container_mtLoaded robot model in 0.418466 seconds[0m ×2 + 8.28sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.28sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.31sINFOros2-10process has finished cleanly [pid 7657] ×2 + 8.31sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.32sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 4.824ms + 8.53sINFOlocal_costmap.local_costmapstart + 8.57sINFOmove_groupMoveGroup debug mode is ON + 8.57sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.57sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788460877.058 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 8.57sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163069 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163069 ms (missed cycles : 2).[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.63sWARNcontroller_serverParameter controller_server.verbose not found + 8.63sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.64sWARNplanning_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. + 8.64sWARNplanning_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. + 8.64sWARNcomponent_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 + 8.64sWARNplanning_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. + 8.64sWARNplanning_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. + 8.64sWARNcomponent_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 + 8.64sWARNplanning_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. + 8.64sWARNcomponent_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 + 8.64sWARNcomponent_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 + 8.64sWARNplanning_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. + 8.64sWARNcomponent_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 + 8.64sWARNcomponent_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 + 8.64sWARNplanning_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. + 8.64sWARNcomponent_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 + 8.64sWARNplanning_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. + 8.64sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.65sWARNcomponent_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 + 8.65sWARNplanning_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. + 8.66sWARNcomponent_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 + 8.66sWARNplanning_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. + 8.66sWARNcomponent_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 + 8.66sWARNplanning_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. + 8.66sWARNcomponent_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 + 8.66sWARNplanning_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. + 8.66sWARNcomponent_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 + 8.66sWARNplanning_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. + 8.66sWARNcomponent_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 + 8.66sWARNplanning_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. + 8.66sWARNcomponent_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 + 8.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.74sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 8.74sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 8.74sINFOsmoother_serverActivating + 8.74sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 8.76sINFOmove_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 ****************************************************** + 8.76sINFOmove_group ×8 + 8.76sINFOmove_group****************************************************** ×4 + 8.76sINFOmove_group* MoveGroup using: ×2 + 8.76sINFOmove_group* - apply_planning_scene_service ×2 + 8.76sINFOmove_group* - clear_octomap_service ×2 + 8.76sINFOmove_group* - get_group_urdf ×2 + 8.76sINFOmove_group* - load_geometry_from_file ×2 + 8.76sINFOmove_group* - get_planning_scene_service ×2 + 8.76sINFOmove_group* - kinematics_service ×2 + 8.76sINFOmove_group* - save_geometry_to_file ×2 + 8.76sINFOmove_group* - GetPlanningGroups ×2 + 8.76sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.76sINFOmove_group[0m ×2 + 8.76sINFOmove_group[92mYou can start planning now![0m ×2 + 8.78sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.78sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.78sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.78sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.79sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.79sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.80sINFOros2-12process has finished cleanly [pid 7660] ×2 + 8.86sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.86sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.86sINFOplanner_serverActivating + 8.86sINFOglobal_costmap.global_costmapActivating + 8.86sINFOglobal_costmap.global_costmapChecking transform + 8.86sINFOglobal_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 1788460878.463107 but the earliest data is at time 1788460878.957817, when looking up transform from frame [ridgeback_base_link] to frame [map] + 8.90sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 8.90sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 8.95sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.95sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.95sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.95sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.97sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.97sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.99sWARNros2_control_nodeCamera render tick took 0.62 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 + 9.01sINFOcomponent_container_mt[2026-09-03 18:41:18.619] [moveit_pro_license] [info] ×2 + 9.01sINFOcomponent_container_mt************************************************* ×4 + 9.01sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.01sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.36sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1788460878.921492 but the earliest data is at time 1788460878.957817, when looking up transform from frame [ridgeback_base_link] to frame [map] + 9.39sINFOros2_control_node[2026-09-03 18:41:19.001] [info] Controller state will be published at 20 Hz. ×2 + 9.39sINFOros2_control_node[2026-09-03 18:41:19.002] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.42sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.42sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.43sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857464 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857464 ms (missed cycles : 2).[0m ×2 + 9.70sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.70sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.70sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.70sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.72sINFOros2-20process has finished cleanly [pid 7686] ×2 + 9.72sWARNobjective_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 + 9.77sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 9.77sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 9.82sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.82sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.82sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.82sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.86sINFOglobal_costmap.global_costmapstart + 10.21sINFOros2_control_node[2026-09-03 18:41:19.817] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.21sINFOros2_control_node[2026-09-03 18:41:19.819] [info] Controller state will be published at 10 Hz. ×2 + 10.21sINFOros2_control_node[2026-09-03 18:41:19.820] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 10.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 10.54sINFOros2-18process has finished cleanly [pid 7666] ×2 + 10.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979860 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979860 ms (missed cycles : 3).[0m ×2 + 10.79sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.91sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 10.91sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 10.96sINFOros2_control_node[2026-09-03 18:41:20.571] [info] Controller state will be published at 20 Hz. ×2 + 10.96sINFOros2_control_node[2026-09-03 18:41:20.572] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.01sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.01sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.02sINFObehavior_serverActivating + 11.02sINFObehavior_serverActivating spin + 11.02sINFObehavior_serverActivating backup + 11.02sINFObehavior_serverActivating drive_on_heading + 11.02sINFObehavior_serverActivating assisted_teleop + 11.02sINFObehavior_serverActivating wait + 11.02sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.12sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.12sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.12sINFObt_navigatorActivating + 11.18sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.28sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.28sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.29sINFOwaypoint_followerActivating + 11.29sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.30sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.30sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.30sINFOros2-19process has finished cleanly [pid 7668] ×2 + 11.30sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.30sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 11.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 11.35sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.35sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.35sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.35sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.39sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.39sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.39sINFOvelocity_smootherActivating + 11.39sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.50sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.50sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.71sINFOros2_control_node[2026-09-03 18:41:21.323] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.71sINFOros2_control_node[2026-09-03 18:41:21.325] [info] Controller state will be published at 10 Hz. ×2 + 11.72sINFOros2_control_node[2026-09-03 18:41:21.326] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883041 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883041 ms (missed cycles : 3).[0m ×2 + 12.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.02sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.03sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 12.03sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 12.06sINFOros2-17process has finished cleanly [pid 7665] ×2 + 12.10sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.10sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.10sINFOplatform_velocity_controller_nav2configure successful + 12.41sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.41sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.41sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.41sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.41sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 12.41sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 12.44sINFOros2-15process has finished cleanly [pid 7663] ×2 + 12.49sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 12.49sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 12.49sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 12.49sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 12.49sINFOplatform_velocity_controllerconfigure successful + 12.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 12.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 12.50sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 12.50sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 12.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 12.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 12.83sINFOros2-13process has finished cleanly [pid 7661] ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860631 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860631 ms (missed cycles : 2).[0m ×2 + 12.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.90sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.90sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.91sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.91sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.91sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.91sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.22sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.22sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.22sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.22sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e + 13.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_46wzz03d --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_c3xem_xo --params-file /tmp/launch_params__3qyqo0e [0m ×2 + 13.23sINFOros2-16process has finished cleanly [pid 7664] ×2 + 13.27sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 13.28sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 13.28sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.28sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.28sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.28sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.29sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 13.29sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.61sINFOros2-11process has finished cleanly [pid 7658] ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119444 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119444 ms (missed cycles : 3).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419434 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419434 ms (missed cycles : 2).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 17.36sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 18.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.65sINFOobjective_server_nodecaller: ×10 + 18.65sINFOobjective_server_nodetype: 0 ×10 + 18.65sINFOobjective_server_nodename: "" ×10 + 18.65sINFOobjective_server_nodeinstance_id: "" ×10 + 18.65sINFOobjective_server_node ×10 + 18.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.69sINFOmove_groupClearing octomap...[0m ×2 + 18.69sINFOmove_groupOctomap cleared.[0m ×2 + 18.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 19.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 19.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 20.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.62sINFOobjective_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 + 20.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 21.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.21sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 21.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	71.9s	3 errors · 221 warnings · 279 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205547 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205547 ms (missed cycles : 3).[0m ×2 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.364ms + 0.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.641ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376768 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376768 ms (missed cycles : 3).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.013ms + 1.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.189ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260302 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260302 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.609ms + 2.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.897ms + 3.02sINFOobjective_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 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1788461101.90862107 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOamclParticle filter update iteration stats: 4208 particles 723 points - 5.157ms + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395632 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395632 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788461102.49696469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889231 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889231 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888243 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888243 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992432 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992432 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712385 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712385 ms (missed cycles : 3).[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.165ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044289 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044289 ms (missed cycles : 2).[0m ×2 + 8.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.499ms + 9.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.292ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789333 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789333 ms (missed cycles : 2).[0m ×2 + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.778ms + 10.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.731ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984771 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984771 ms (missed cycles : 2).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.051ms + 11.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.174ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943632 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943632 ms (missed cycles : 3).[0m ×2 + 11.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.958ms + 12.33sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 6.119ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656119 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656119 ms (missed cycles : 3).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 3.579ms + 13.33sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.055ms + 13.83sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.378ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462461 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462461 ms (missed cycles : 3).[0m ×2 + 14.33sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.914ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705963 ms (missed cycles : 4). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705963 ms (missed cycles : 4).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721757 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721757 ms (missed cycles : 2).[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421542 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421542 ms (missed cycles : 4).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558185 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558185 ms (missed cycles : 3).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843659 ms (missed cycles : 3). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843659 ms (missed cycles : 3).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154745 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154745 ms (missed cycles : 2).[0m ×2 + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181734 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181734 ms (missed cycles : 3).[0m ×2 + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919899 ms (missed cycles : 3). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919899 ms (missed cycles : 3).[0m ×2 + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 23.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167512 ms (missed cycles : 3). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167512 ms (missed cycles : 3).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801723 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801723 ms (missed cycles : 2).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958472 ms (missed cycles : 2). + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958472 ms (missed cycles : 2).[0m ×2 + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751677 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751677 ms (missed cycles : 2).[0m ×2 + 26.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729927 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729927 ms (missed cycles : 2).[0m ×2 + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 28.14sINFOros2_control_nodeMuJoCo sim: 2.93% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098324 ms (missed cycles : 2). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098324 ms (missed cycles : 2).[0m ×2 + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214785 ms (missed cycles : 4). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214785 ms (missed cycles : 4).[0m ×2 + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664921 ms (missed cycles : 4). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664921 ms (missed cycles : 4).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973773 ms (missed cycles : 5). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973773 ms (missed cycles : 5).[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 32.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059967 ms (missed cycles : 4). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059967 ms (missed cycles : 4).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716137 ms (missed cycles : 4). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716137 ms (missed cycles : 4).[0m ×2 + 34.84sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.84sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.15sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111989 ms (missed cycles : 4). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111989 ms (missed cycles : 4).[0m ×2 + 35.89sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112506 ms (missed cycles : 4). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112506 ms (missed cycles : 4).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187904 ms (missed cycles : 4). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187904 ms (missed cycles : 4).[0m ×2 + 38.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 38.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621988 ms (missed cycles : 4). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621988 ms (missed cycles : 4).[0m ×2 + 39.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 39.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 40.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307454 ms (missed cycles : 4). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307454 ms (missed cycles : 4).[0m ×2 + 40.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752948 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752948 ms (missed cycles : 2).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123568 ms (missed cycles : 3). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123568 ms (missed cycles : 3).[0m ×2 + 43.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626141 ms (missed cycles : 4). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626141 ms (missed cycles : 4).[0m ×2 + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402190 ms (missed cycles : 4). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402190 ms (missed cycles : 4).[0m ×2 + 44.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768013 ms (missed cycles : 2). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768013 ms (missed cycles : 2).[0m ×2 + 45.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573012 ms (missed cycles : 2). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573012 ms (missed cycles : 2).[0m ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066780 ms (missed cycles : 2). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066780 ms (missed cycles : 2).[0m ×2 + 48.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249442 ms (missed cycles : 3). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249442 ms (missed cycles : 3).[0m ×2 + 49.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms ×2 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855443 ms (missed cycles : 3). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855443 ms (missed cycles : 3).[0m ×2 + 50.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 51.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495236 ms (missed cycles : 2). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495236 ms (missed cycles : 2).[0m ×2 + 51.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935168 ms (missed cycles : 3). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935168 ms (missed cycles : 3).[0m ×2 + 53.15sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677547 ms (missed cycles : 2). + 53.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677547 ms (missed cycles : 2).[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841007 ms (missed cycles : 2). + 54.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841007 ms (missed cycles : 2).[0m ×2 + 55.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093580 ms (missed cycles : 4). + 55.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093580 ms (missed cycles : 4).[0m ×2 + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876408 ms (missed cycles : 2). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876408 ms (missed cycles : 2).[0m ×2 + 57.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms ×2 + 57.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053795 ms (missed cycles : 2). + 57.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053795 ms (missed cycles : 2).[0m ×2 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074967 ms (missed cycles : 3). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074967 ms (missed cycles : 3).[0m ×2 + 58.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 59.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 59.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480026 ms (missed cycles : 4). + 59.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480026 ms (missed cycles : 4).[0m ×2 + 59.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 60.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478175 ms (missed cycles : 3). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478175 ms (missed cycles : 3).[0m ×2 + 61.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 61.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719711 ms (missed cycles : 3). + 61.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719711 ms (missed cycles : 3).[0m ×2 + 62.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 62.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600457 ms (missed cycles : 3). + 62.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600457 ms (missed cycles : 3).[0m ×2 + 63.40sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 63.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396748 ms (missed cycles : 3). + 63.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396748 ms (missed cycles : 3).[0m ×2 + 64.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171860 ms (missed cycles : 2). + 64.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171860 ms (missed cycles : 2).[0m ×2 + 65.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 66.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988305 ms (missed cycles : 3). + 66.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988305 ms (missed cycles : 3).[0m ×2 + 67.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901254 ms (missed cycles : 3). + 67.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901254 ms (missed cycles : 3).[0m ×2 + 67.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 67.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 68.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605798 ms (missed cycles : 4). + 68.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605798 ms (missed cycles : 4).[0m ×2 + 68.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 69.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321820 ms (missed cycles : 2). + 69.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321820 ms (missed cycles : 2).[0m ×2 + 69.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 70.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 70.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330291 ms (missed cycles : 2). + 70.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330291 ms (missed cycles : 2).[0m ×2 + 70.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 71.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084972 ms (missed cycles : 3). + 71.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084972 ms (missed cycles : 3).[0m ×2 + 71.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 72.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 72.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120126 ms (missed cycles : 4). + 72.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120126 ms (missed cycles : 4).[0m ×2 + 73.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816179 ms (missed cycles : 4). + 73.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816179 ms (missed cycles : 4).[0m ×2 + 74.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 74.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128566 ms (missed cycles : 3). + 74.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128566 ms (missed cycles : 3).[0m ×2 + 74.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788461173.80711293 seconds ×3 + 75.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.777ms + 75.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.999ms + 75.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 75.50sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 75.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788461174.39387274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 75.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131211 ms (missed cycles : 2). + 75.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131211 ms (missed cycles : 2).[0m ×2 + 76.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387729 ms (missed cycles : 3). + 76.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387729 ms (missed cycles : 3).[0m ×2 + 77.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734305 ms (missed cycles : 2). + 77.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734305 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	182 warnings · 210 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960893 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960893 ms (missed cycles : 3).[0m ×2 + 7.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.357ms + 8.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.266ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223393 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223393 ms (missed cycles : 3).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.010ms + 9.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.580ms + 9.44sINFOros2_control_nodeMuJoCo sim: 4.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572891 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572891 ms (missed cycles : 3).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.641ms + 10.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.961ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894192 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894192 ms (missed cycles : 3).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.545ms + 11.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.866ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382433 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382433 ms (missed cycles : 3).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.496ms + 12.43sINFOamclParticle filter update iteration stats: 4797 particles 723 points - 7.927ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699551 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699551 ms (missed cycles : 2).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 4.496ms + 13.42sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.964ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620776 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620776 ms (missed cycles : 3).[0m ×2 + 13.92sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.236ms + 14.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949629 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949629 ms (missed cycles : 2).[0m ×2 + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986506 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986506 ms (missed cycles : 2).[0m ×2 + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766003 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766003 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731921 ms (missed cycles : 3). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731921 ms (missed cycles : 3).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844700 ms (missed cycles : 3). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844700 ms (missed cycles : 3).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165607 ms (missed cycles : 3). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165607 ms (missed cycles : 3).[0m ×2 + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908051 ms (missed cycles : 3). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908051 ms (missed cycles : 3).[0m ×2 + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688981 ms (missed cycles : 3). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688981 ms (missed cycles : 3).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895881 ms (missed cycles : 3). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895881 ms (missed cycles : 3).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978617 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978617 ms (missed cycles : 2).[0m ×2 + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423458 ms (missed cycles : 3). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423458 ms (missed cycles : 3).[0m ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 26.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639712 ms (missed cycles : 4). + 26.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639712 ms (missed cycles : 4).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112756 ms (missed cycles : 2). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112756 ms (missed cycles : 2).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520058 ms (missed cycles : 4). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520058 ms (missed cycles : 4).[0m ×2 + 28.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535976 ms (missed cycles : 3). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535976 ms (missed cycles : 3).[0m ×2 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209889 ms (missed cycles : 4). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209889 ms (missed cycles : 4).[0m ×2 + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916208 ms (missed cycles : 2). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916208 ms (missed cycles : 2).[0m ×2 + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158801 ms (missed cycles : 5). + 33.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158801 ms (missed cycles : 5).[0m ×2 + 33.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535479 ms (missed cycles : 3). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535479 ms (missed cycles : 3).[0m ×2 + 34.48sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106906 ms (missed cycles : 2). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106906 ms (missed cycles : 2).[0m ×2 + 36.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031307 ms (missed cycles : 4). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031307 ms (missed cycles : 4).[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637046 ms (missed cycles : 3). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637046 ms (missed cycles : 3).[0m ×2 + 38.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226097 ms (missed cycles : 3). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226097 ms (missed cycles : 3).[0m ×2 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725974 ms (missed cycles : 2). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725974 ms (missed cycles : 2).[0m ×2 + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834552 ms (missed cycles : 3). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834552 ms (missed cycles : 3).[0m ×2 + 41.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187425 ms (missed cycles : 2). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187425 ms (missed cycles : 2).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632371 ms (missed cycles : 4). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632371 ms (missed cycles : 4).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155275 ms (missed cycles : 2). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155275 ms (missed cycles : 2).[0m ×2 + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405833 ms (missed cycles : 3). + 45.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405833 ms (missed cycles : 3).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132372 ms (missed cycles : 4). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132372 ms (missed cycles : 4).[0m ×2 + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148419 ms (missed cycles : 3). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148419 ms (missed cycles : 3).[0m ×2 + 48.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519833 ms (missed cycles : 4). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519833 ms (missed cycles : 4).[0m ×2 + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353349 ms (missed cycles : 3). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353349 ms (missed cycles : 3).[0m ×2 + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574063 ms (missed cycles : 3). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574063 ms (missed cycles : 3).[0m ×2 + 51.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529540 ms (missed cycles : 3). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529540 ms (missed cycles : 3).[0m ×2 + 53.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880035 ms (missed cycles : 2). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880035 ms (missed cycles : 2).[0m ×2 + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608631 ms (missed cycles : 4). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608631 ms (missed cycles : 4).[0m ×2 + 54.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 55.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758762 ms (missed cycles : 2). + 55.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758762 ms (missed cycles : 2).[0m ×2 + 56.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955755 ms (missed cycles : 4). + 56.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955755 ms (missed cycles : 4).[0m ×2 + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167877 ms (missed cycles : 2). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167877 ms (missed cycles : 2).[0m ×2 + 58.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121291 ms (missed cycles : 4). + 58.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121291 ms (missed cycles : 4).[0m ×2 + 59.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091431 ms (missed cycles : 4). + 59.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091431 ms (missed cycles : 4).[0m ×2 + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 60.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788461237.70753264 seconds ×3 + 60.18sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.18sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135026 ms (missed cycles : 4). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135026 ms (missed cycles : 4).[0m ×2 + 60.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.999ms + 60.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.69sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788461238.29460692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.15sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 61.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228835 ms (missed cycles : 2). + 61.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228835 ms (missed cycles : 2).[0m ×2 + 61.49sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459670 ms (missed cycles : 3). + 62.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459670 ms (missed cycles : 3).[0m ×2 + 63.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845666 ms (missed cycles : 3). + 63.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845666 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	179 warnings · 217 info
+ 0.00sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.920ms + 0.50sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.396ms + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617170 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617170 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.338ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148258 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148258 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176375 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176375 ms (missed cycles : 5).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788460940.07967520 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.164ms + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788460940.66326761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073829 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073829 ms (missed cycles : 3).[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663218 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663218 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815507 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815507 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153687 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153687 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.745ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473618 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473618 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.420ms + 9.20sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.159ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989520 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989520 ms (missed cycles : 2).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.953ms + 10.00sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525767 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525767 ms (missed cycles : 3).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519302 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519302 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960784 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960784 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.755ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884537 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884537 ms (missed cycles : 3).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916562 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916562 ms (missed cycles : 4).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604982 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604982 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627575 ms (missed cycles : 3). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627575 ms (missed cycles : 3).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013109 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013109 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875456 ms (missed cycles : 3). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875456 ms (missed cycles : 3).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921930 ms (missed cycles : 3). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921930 ms (missed cycles : 3).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734174 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734174 ms (missed cycles : 2).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882420 ms (missed cycles : 3). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882420 ms (missed cycles : 3).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms ×2 + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008554 ms (missed cycles : 3). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008554 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082251 ms (missed cycles : 3). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082251 ms (missed cycles : 3).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848080 ms (missed cycles : 3). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848080 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629580 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629580 ms (missed cycles : 3).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708497 ms (missed cycles : 2). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708497 ms (missed cycles : 2).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383226 ms (missed cycles : 4). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383226 ms (missed cycles : 4).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553290 ms (missed cycles : 4). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553290 ms (missed cycles : 4).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722216 ms (missed cycles : 2). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722216 ms (missed cycles : 2).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242161 ms (missed cycles : 3). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242161 ms (missed cycles : 3).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811459 ms (missed cycles : 3). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811459 ms (missed cycles : 3).[0m ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321571 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321571 ms (missed cycles : 2).[0m ×2 + 34.74sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087349 ms (missed cycles : 3). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087349 ms (missed cycles : 3).[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770304 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770304 ms (missed cycles : 2).[0m ×2 + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 37.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670151 ms (missed cycles : 3). + 37.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670151 ms (missed cycles : 3).[0m ×2 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144547 ms (missed cycles : 4). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144547 ms (missed cycles : 4).[0m ×2 + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263694 ms (missed cycles : 4). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263694 ms (missed cycles : 4).[0m ×2 + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176007 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176007 ms (missed cycles : 3).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293381 ms (missed cycles : 2). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293381 ms (missed cycles : 2).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312047 ms (missed cycles : 2). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312047 ms (missed cycles : 2).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108902 ms (missed cycles : 2). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108902 ms (missed cycles : 2).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788239 ms (missed cycles : 3). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788239 ms (missed cycles : 3).[0m ×2 + 45.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279840 ms (missed cycles : 3). + 45.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279840 ms (missed cycles : 3).[0m ×2 + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088177 ms (missed cycles : 4). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088177 ms (missed cycles : 4).[0m ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223465 ms (missed cycles : 3). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223465 ms (missed cycles : 3).[0m ×2 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507754 ms (missed cycles : 4). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507754 ms (missed cycles : 4).[0m ×2 + 50.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670236 ms (missed cycles : 4). + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670236 ms (missed cycles : 4).[0m ×2 + 51.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287980 ms (missed cycles : 2). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287980 ms (missed cycles : 2).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994159 ms (missed cycles : 2). + 52.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994159 ms (missed cycles : 2).[0m ×2 + 53.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851503 ms (missed cycles : 3). + 53.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851503 ms (missed cycles : 3).[0m ×2 + 54.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645239 ms (missed cycles : 3). + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645239 ms (missed cycles : 3).[0m ×2 + 55.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 55.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087863 ms (missed cycles : 5). + 55.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087863 ms (missed cycles : 5).[0m ×2 + 56.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246754 ms (missed cycles : 3). + 56.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246754 ms (missed cycles : 3).[0m ×2 + 57.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3).[0m ×2 + 58.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3). + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3).[0m ×2 + 59.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 59.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3).[0m ×2 + 60.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460997.30339193 seconds ×3 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.535ms + 60.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.87sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2). + 60.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2).[0m ×2 + 60.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460997.89626837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.31sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 61.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3). + 62.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3).[0m ×2 + 63.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4). + 63.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.7s	179 warnings · 235 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4).[0m ×2 + 0.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2). + 3.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461036.43315458 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.34sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 1.920ms + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-3.14, 11.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-4.04, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461037.00978184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.62sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.62sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×6 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885067 ms (missed cycles : 3). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885067 ms (missed cycles : 3).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.051ms + 9.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.412ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780315 ms (missed cycles : 3). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780315 ms (missed cycles : 3).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.839ms + 10.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.574ms + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339955 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339955 ms (missed cycles : 3).[0m ×2 + 10.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.790ms + 11.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.403ms + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192640 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192640 ms (missed cycles : 3).[0m ×2 + 11.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.857ms + 12.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.657ms + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621220 ms (missed cycles : 3). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621220 ms (missed cycles : 3).[0m ×2 + 12.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.677ms + 13.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268722 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268722 ms (missed cycles : 2).[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 14.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.468ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993556 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993556 ms (missed cycles : 2).[0m ×2 + 14.55sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 7.721ms + 15.05sINFOamclParticle filter update iteration stats: 2146 particles 723 points - 3.448ms + 15.54sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.952ms + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071793 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071793 ms (missed cycles : 2).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.453ms + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098159 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098159 ms (missed cycles : 2).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 18.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935099 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935099 ms (missed cycles : 2).[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058906 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058906 ms (missed cycles : 3).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms ×2 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563801 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563801 ms (missed cycles : 3).[0m ×2 + 20.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms ×2 + 21.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744428 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744428 ms (missed cycles : 3).[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623452 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623452 ms (missed cycles : 3).[0m ×2 + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736145 ms (missed cycles : 3). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736145 ms (missed cycles : 3).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517525 ms (missed cycles : 4). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517525 ms (missed cycles : 4).[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152795 ms (missed cycles : 4). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152795 ms (missed cycles : 4).[0m ×2 + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987214 ms (missed cycles : 2). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987214 ms (missed cycles : 2).[0m ×2 + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 27.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799567 ms (missed cycles : 3). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799567 ms (missed cycles : 3).[0m ×2 + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836006 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836006 ms (missed cycles : 2).[0m ×2 + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305990 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305990 ms (missed cycles : 2).[0m ×2 + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144885 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144885 ms (missed cycles : 2).[0m ×2 + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183476 ms (missed cycles : 4). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183476 ms (missed cycles : 4).[0m ×2 + 33.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376737 ms (missed cycles : 3). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376737 ms (missed cycles : 3).[0m ×2 + 33.75sINFOros2_control_nodeMuJoCo sim: 2.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020206 ms (missed cycles : 2). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020206 ms (missed cycles : 2).[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914700 ms (missed cycles : 3). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914700 ms (missed cycles : 3).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088804 ms (missed cycles : 4). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088804 ms (missed cycles : 4).[0m ×2 + 36.79sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.60sINFOobjective_server_nodePlanning for 46 path waypoints. ×3 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078150 ms (missed cycles : 3). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078150 ms (missed cycles : 3).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756845 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756845 ms (missed cycles : 2).[0m ×2 + 39.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 39.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766657 ms (missed cycles : 3). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766657 ms (missed cycles : 3).[0m ×2 + 40.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 40.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030105 ms (missed cycles : 3). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030105 ms (missed cycles : 3).[0m ×2 + 41.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 41.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937618 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937618 ms (missed cycles : 3).[0m ×2 + 41.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms + 42.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327374 ms (missed cycles : 4). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327374 ms (missed cycles : 4).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345844 ms (missed cycles : 3). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345844 ms (missed cycles : 3).[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995787 ms (missed cycles : 3). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995787 ms (missed cycles : 3).[0m ×2 + 45.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473772 ms (missed cycles : 3). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473772 ms (missed cycles : 3).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202817 ms (missed cycles : 2). + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202817 ms (missed cycles : 2).[0m ×2 + 47.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243138 ms (missed cycles : 2). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243138 ms (missed cycles : 2).[0m ×2 + 48.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521427 ms (missed cycles : 3). + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521427 ms (missed cycles : 3).[0m ×2 + 50.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364091 ms (missed cycles : 3). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364091 ms (missed cycles : 3).[0m ×2 + 51.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 51.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512006 ms (missed cycles : 3). + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512006 ms (missed cycles : 3).[0m ×2 + 52.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 52.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724613 ms (missed cycles : 3). + 52.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724613 ms (missed cycles : 3).[0m ×2 + 53.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 53.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361066 ms (missed cycles : 3). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361066 ms (missed cycles : 3).[0m ×2 + 54.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942555 ms (missed cycles : 2). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942555 ms (missed cycles : 2).[0m ×2 + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685769 ms (missed cycles : 3). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685769 ms (missed cycles : 3).[0m ×2 + 56.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608570 ms (missed cycles : 2). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608570 ms (missed cycles : 2).[0m ×2 + 57.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 57.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788461091.15991879 seconds ×3 + 58.00sWARNlocal_costmap.local_costmapSensor origin at (-1.91, 10.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.00sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.04sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 1.431ms + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885805 ms (missed cycles : 2). + 58.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885805 ms (missed cycles : 2).[0m ×2 + 58.10sWARNlocal_costmap.local_costmapSensor origin at (-1.61, 9.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.10sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 9.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.854ms + 58.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788461091.74285936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.92sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 59.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203104 ms (missed cycles : 3). + 59.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203104 ms (missed cycles : 3).[0m ×2 + 60.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664947 ms (missed cycles : 3). + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664947 ms (missed cycles : 3).[0m ×2 + 61.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105471 ms (missed cycles : 2). + 61.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105471 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	141 warnings · 381 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.74sINFOobjective_server_nodecaller: ×12 + 0.74sINFOobjective_server_nodetype: 0 ×12 + 0.74sINFOobjective_server_nodename: "" ×12 + 0.74sINFOobjective_server_nodeinstance_id: "" ×12 + 0.74sINFOobjective_server_node ×12 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.78sINFOmove_groupClearing octomap...[0m ×2 + 0.78sINFOmove_groupOctomap cleared.[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725060 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725060 ms (missed cycles : 2).[0m ×2 + 7.16sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.305ms + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089746 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089746 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027858 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027858 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292089 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292089 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863061 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863061 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044629 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044629 ms (missed cycles : 4).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856222 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856222 ms (missed cycles : 2).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616988 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616988 ms (missed cycles : 3).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745777 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745777 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811136 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811136 ms (missed cycles : 3).[0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158043 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158043 ms (missed cycles : 2).[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880917 ms (missed cycles : 3). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880917 ms (missed cycles : 3).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556712 ms (missed cycles : 3). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556712 ms (missed cycles : 3).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081687 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081687 ms (missed cycles : 2).[0m ×2 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372412 ms (missed cycles : 3). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372412 ms (missed cycles : 3).[0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666612 ms (missed cycles : 3). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666612 ms (missed cycles : 3).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810183 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810183 ms (missed cycles : 3).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610193 ms (missed cycles : 3). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610193 ms (missed cycles : 3).[0m ×2 + 25.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361762 ms (missed cycles : 2). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361762 ms (missed cycles : 2).[0m ×2 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487781 ms (missed cycles : 2). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487781 ms (missed cycles : 2).[0m ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750392 ms (missed cycles : 3). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750392 ms (missed cycles : 3).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609502 ms (missed cycles : 3). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609502 ms (missed cycles : 3).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456987 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456987 ms (missed cycles : 2).[0m ×2 + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883984 ms (missed cycles : 2). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883984 ms (missed cycles : 2).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782958 ms (missed cycles : 3). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782958 ms (missed cycles : 3).[0m ×2 + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117899 ms (missed cycles : 2). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117899 ms (missed cycles : 2).[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399306 ms (missed cycles : 3). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399306 ms (missed cycles : 3).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954131 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954131 ms (missed cycles : 2).[0m ×2 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221448 ms (missed cycles : 2). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221448 ms (missed cycles : 2).[0m ×2 + 37.15sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 2.045ms + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667315 ms (missed cycles : 3). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667315 ms (missed cycles : 3).[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863110 ms (missed cycles : 2). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863110 ms (missed cycles : 2).[0m ×2 + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221206 ms (missed cycles : 3). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221206 ms (missed cycles : 3).[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515573 ms (missed cycles : 3). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515573 ms (missed cycles : 3).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495325 ms (missed cycles : 3). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495325 ms (missed cycles : 3).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150585 ms (missed cycles : 2). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150585 ms (missed cycles : 2).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3).[0m ×2 + 45.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3). + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3).[0m ×2 + 46.35sINFOjoint_trajectory_controllerGoal reached, success! + 46.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460933.92844462 seconds ×3 + 46.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.163ms + 46.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.95sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460934.50954723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3).[0m ×2 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3).[0m ×2 + 48.09sINFOobjective_server_nodeFound path in 0 iterations (3.5177e-05 s). ×2 + 48.17sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3).[0m ×2 + 49.45sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.920ms + 49.95sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.396ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	109 warnings · 193 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424878 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424878 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102849 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102849 ms (missed cycles : 2).[0m ×2 + 1.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.49sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788461003.68639779 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833503 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833503 ms (missed cycles : 3).[0m ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788461005.26301146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660397 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660397 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933854 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933854 ms (missed cycles : 2).[0m ×2 + 4.78sINFOros2_control_nodeMuJoCo sim: 2.65% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776778 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776778 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267508 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267508 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901059 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901059 ms (missed cycles : 2).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.365ms + 8.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.847ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676590 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676590 ms (missed cycles : 2).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.454ms + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.577ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641516 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641516 ms (missed cycles : 2).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.540ms + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.336ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731596 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731596 ms (missed cycles : 3).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.669ms + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.769ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130251 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130251 ms (missed cycles : 2).[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.914ms + 12.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.191ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817954 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817954 ms (missed cycles : 3).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.881ms + 13.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.462ms + 13.68sINFOamclParticle filter update iteration stats: 4021 particles 723 points - 4.853ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759395 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759395 ms (missed cycles : 3).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 4.226ms + 14.68sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 3.884ms + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826387 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826387 ms (missed cycles : 3).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.328ms + 15.68sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 2.624ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071382 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071382 ms (missed cycles : 2).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 2.714ms + 16.68sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.635ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327733 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327733 ms (missed cycles : 3).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 2.167ms + 17.68sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.251ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637498 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637498 ms (missed cycles : 2).[0m ×2 + 18.17sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 2.059ms + 18.68sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.405ms + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 19.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057138 ms (missed cycles : 2). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057138 ms (missed cycles : 2).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237696 ms (missed cycles : 2). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237696 ms (missed cycles : 2).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153144 ms (missed cycles : 3). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153144 ms (missed cycles : 3).[0m ×2 + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408750 ms (missed cycles : 3). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408750 ms (missed cycles : 3).[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431872 ms (missed cycles : 4). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431872 ms (missed cycles : 4).[0m ×2 + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms ×2 + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707879 ms (missed cycles : 3). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707879 ms (missed cycles : 3).[0m ×2 + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192023 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192023 ms (missed cycles : 3).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794979 ms (missed cycles : 3). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794979 ms (missed cycles : 3).[0m ×2 + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868233 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868233 ms (missed cycles : 2).[0m ×2 + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022701 ms (missed cycles : 3). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022701 ms (missed cycles : 3).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4).[0m ×2 + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2).[0m ×2 + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4).[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2).[0m ×2 + 34.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461036.43315458 seconds ×3 + 34.34sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.34sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.38sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 1.920ms + 34.44sWARNlocal_costmap.local_costmapSensor origin at (-3.14, 11.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.44sWARNlocal_costmap.local_costmapSensor origin at (-4.04, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 34.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461037.00978184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.25sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). ×2 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3).[0m ×2 + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2). + 37.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	68 warnings · 242 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167877 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121291 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121291 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091431 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091431 ms (missed cycles : 4).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788461237.70753264 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135026 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135026 ms (missed cycles : 4).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.999ms + 3.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.58sINFOobjective_server_nodecaller: ×6 + 3.58sINFOobjective_server_nodetype: 0 ×6 + 3.58sINFOobjective_server_nodename: "" ×6 + 3.58sINFOobjective_server_nodeinstance_id: "" ×6 + 3.58sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788461238.29460692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228835 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228835 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459670 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459670 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845666 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845666 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871850 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871850 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486007 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486007 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857208 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857208 ms (missed cycles : 3).[0m ×2 + 10.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 10.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 10.28sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 10.44sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.48sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231713 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231713 ms (missed cycles : 2).[0m ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.87sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 11.26sINFOobjective_server_nodeFound path in 33 iterations (0.0350415 s). ×2 + 11.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833176 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833176 ms (missed cycles : 3).[0m ×2 + 11.84sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 12.33sINFOros2_control_nodeMuJoCo sim: 4.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.53sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307429 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307429 ms (missed cycles : 2).[0m ×2 + 13.10sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.35sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881302 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881302 ms (missed cycles : 3).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476654 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476654 ms (missed cycles : 3).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.585ms + 15.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.058ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264030 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264030 ms (missed cycles : 2).[0m ×2 + 16.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.677ms + 16.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.732ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 18.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.535ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3).[0m ×2 + 19.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461254.00409842 seconds ×3 + 19.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.557ms + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2).[0m ×2 + 19.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461254.61799002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.95sINFOmove_groupClearing octomap...[0m ×2 + 19.95sINFOmove_groupOctomap cleared.[0m ×2 + 20.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461255.19811416 seconds ×3 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2).[0m ×2 + 21.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461255.77443051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461256.27455449 seconds ×3 + 21.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2). + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2).[0m ×2 + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.0s	102 errors · 33 warnings · 487 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 0.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.535ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3).[0m ×2 + 1.94sINFOjoint_trajectory_controllerGoal reached, success! + 1.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461254.00409842 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.557ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461254.61799002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461255.19811416 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461255.77443051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461256.27455449 seconds ×3 + 4.46sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2). + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223642 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223642 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372801 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372801 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566481 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566481 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255883 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255883 ms (missed cycles : 2).[0m ×2 + 10.53sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.56sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORweb_video_auth_proxy-35process has died [pid 7737, 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 + 10.56sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.57sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORweb_bridge_auth_proxy-34process has died [pid 7736, 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 + 10.57sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 10.58sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.59sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.60sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.61sINFOvideo_server-33process has finished cleanly [pid 7733] ×2 + 10.61sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.62sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.63sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.64sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.64sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.65sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.66sERRORcomponent_container_mt-27process has died [pid 7710, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=moveit_studio_container -r __ns:=/']. ×2 + 10.66sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.67sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 10.68sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173676 ms (missed cycles : 2). + 10.69sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 10.69sINFOcontroller_managerShutdown request received.... + 10.70sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.70sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down the controller manager. + 10.70sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.71sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.71sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.72sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.73sERRORmove_group-21process has died [pid 7687, 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_m39jk0rj --params-file /tmp/launch_params_ugfdvm_v --params-file /tmp/launch_params_gjbor7ek --params-file /tmp/launch_params_hox5n57j --params-file /tmp/launch_params_s48bvn5j --params-file /tmp/launch_params_htrfye8v']. ×2 + 10.73sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.74sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.75sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.76sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.76sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.76sINFOmap_serverDeactivating + 10.76sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.76sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.76sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.76sINFOcontroller_serverDeactivating + 10.76sINFOlocal_costmap.local_costmapDeactivating + 10.76sINFOvideo_server2026/09/03 18:47:42 INF shutting down gracefully ×2 + 10.76sINFOvideo_server2026/09/03 18:47:42 INF [WebRTC] closing ×2 + 10.76sINFOvideo_server2026/09/03 18:47:42 INF [RTSP] closing ×2 + 10.76sINFOvideo_server2026/09/03 18:47:42 INF waiting for running hooks ×2 + 10.76sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.77sINFOcomponent_container_mt ×10 + 10.77sINFOcomponent_container_mt>>> [rcutils\|error_handling.c:108] rcutils_set_error_state() ×2 + 10.77sINFOcomponent_container_mtThis error state is being overwritten: ×2 + 10.77sINFOcomponent_container_mt'rcl node's context is invalid, at ./src/rcl/node.c:404' ×2 + 10.77sINFOcomponent_container_mtwith this new error message: ×2 + 10.77sINFOcomponent_container_mt'the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130' ×2 + 10.77sINFOcomponent_container_mtrcutils_reset_error() should be called after error handling to avoid this. ×2 + 10.77sINFOcomponent_container_mt<<< ×2 + 10.77sERRORcomponent_container_mtterminate called after throwing an instance of 'rclcpp::exceptions::RCLError' ×2 + 10.77sERRORcomponent_container_mtwhat(): failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 10.77sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOmap_serverCleaning up + 10.77sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.77sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.77sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.77sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.77sERRORmove_groupStack trace (most recent call last) in thread 8313: ×2 + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173676 ms (missed cycles : 2).[0m ×2 + 10.77sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.77sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0725629a63, in __clone ×2 + 10.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f072559caa3, in ×2 + 10.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f072582edb3, in ×2 + 10.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f0725f939e7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0725bc0620, in rclcpp::Rate::sleep() ×2 + 10.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0725b02d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0725ac4087, in ×2 + 10.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f07257fd390, in __cxa_throw ×2 + 10.77sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f07257e7a54, in std::terminate() ×2 + 10.77sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f07257fd0d9, in ×2 + 10.77sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f07257e7ff4, in ×2 + 10.77sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f07255288fe, in abort ×2 + 10.77sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f072554527d, in raise ×2 + 10.77sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f072559eb2c, in pthread_kill ×2 + 10.77sERRORmove_groupAborted (Signal sent by tkill() 7687 0) ×2 + 10.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.77sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.77sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.77sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.77sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.77sINFOodom_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 + 10.78sINFOodom_qos_relay.pymain() ×2 + 10.78sINFOodom_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 + 10.78sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.78sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.78sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.78sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.78sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.78sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.78sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.78sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.78sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.78sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.79sERRORamclThe bond connection to the lifecycle manager has been broken + 10.79sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.80sINFOcontroller_serverCleaning up + 10.80sINFOlocal_costmap.local_costmapCleaning up + 10.85sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.85sINFOsmoother_serverDeactivating + 10.85sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.86sINFOsmoother_serverCleaning up + 10.86sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.86sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.86sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.86sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.86sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.87sINFOvelocity_smootherDeactivating + 10.87sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.87sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.87sINFOplanner_serverDeactivating + 10.87sINFOglobal_costmap.global_costmapDeactivating + 10.91sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.91sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.91sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.91sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1788461262.658 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.07sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.08sINFOwaypoint_followerDeactivating + 11.08sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.19sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.19sINFObt_navigatorDeactivating + 11.19sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.36sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.36sINFObehavior_serverDeactivating + 11.36sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.43sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.43sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.47sINFOplanner_serverCleaning up + 11.47sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.48sINFOglobal_costmap.global_costmapCleaning up + 11.49sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.49sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.52sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.52sINFObehavior_serverCleaning up + 11.53sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.53sINFObt_navigatorCleaning up + 11.58sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.58sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.58sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.58sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.58sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.58sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.59sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.59sINFOvelocity_smootherCleaning up + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.59sINFOwaypoint_followerCleaning up + 11.62sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.65sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.65sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.65sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.65sINFOtf2_web_republisher_node-32process has finished cleanly [pid 7717] ×2 + 11.65sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.68sINFObt_navigatorCompleted Cleaning up + 11.68sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.68sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.68sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.70sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.70sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.70sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.70sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.71sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 7707] ×2 + 11.71sINFOmove_joint_resampler_node-24process has finished cleanly [pid 7706] ×2 + 11.73sINFOui_teleop_bridge-30process has finished cleanly [pid 7713] ×2 + 11.74sINFOexecute_objective_bridge-29process has finished cleanly [pid 7712] ×2 + 11.75sINFOparameter_manager_node-22process has finished cleanly [pid 7688] ×2 + 11.75sINFOcomponent_container_mt-28process has finished cleanly [pid 7711] ×2 + 11.76sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7573] ×2 + 11.77sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 7572] ×2 + 11.77sINFOwaypoint_manager_node-23process has finished cleanly [pid 7689] ×2 + 11.78sINFOstatic_transform_publisher-4process has finished cleanly [pid 7569] ×2 + 11.79sINFOstatic_transform_publisher-3process has finished cleanly [pid 7568] ×2 + 11.80sINFOobjective_server_node[2026-09-03 18:47:43.848] [moveit_pro_license] [critical] ×2 + 11.80sINFOobjective_server_node************************************************* ×4 + 11.80sINFOobjective_server_node* MoveIt Pro License ×2 + 11.80sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.83sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7571] ×2 + 11.83sERRORodom_qos_relay.py-5process has died [pid 7570, 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 + 11.87sINFOobjective_server_node_main-26process has finished cleanly [pid 7709] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.01sERRORcomponent_container_isolated-1process has died [pid 7566, 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_y7ikknfo --params-file /tmp/launch_params_mbmxt1pa -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.43sINFOros2_control_node-9process has finished cleanly [pid 7574] ×2 + 13.46sINFOweb_bridge-31process has finished cleanly [pid 7714] ×2 + 13.46sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.08sERRORcomponent_container_isolated-2process has died [pid 7567, 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_y7ikknfo --params-file /tmp/launch_params_dc8xej44 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 57 warnings · 159 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942555 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942555 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685769 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685769 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608570 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608570 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788461091.15991879 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-1.91, 10.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 1.431ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885805 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885805 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-1.61, 9.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 9.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.854ms + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788461091.74285936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203104 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203104 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664947 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664947 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105471 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105471 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472842 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472842 ms (missed cycles : 3).[0m ×2 + 8.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.653ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127685 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127685 ms (missed cycles : 3).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.980ms + 9.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.505ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700713 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700713 ms (missed cycles : 2).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 10.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.576ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205547 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205547 ms (missed cycles : 3).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.364ms + 11.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.641ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376768 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376768 ms (missed cycles : 3).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.013ms + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.189ms + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260302 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260302 ms (missed cycles : 3).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.609ms + 13.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.897ms + 13.66sINFOobjective_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 + 13.67sINFOjoint_trajectory_controllerGot request to cancel goal + 13.67sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.67sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.70sERRORobjective_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: 1788461101.90862107 seconds ×3 + 13.78sINFOamclParticle filter update iteration stats: 4208 particles 723 points - 5.157ms + 13.83sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.83sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395632 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395632 ms (missed cycles : 3).[0m ×2 + 13.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 14.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788461102.49696469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889231 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889231 ms (missed cycles : 2).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888243 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888243 ms (missed cycles : 3).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992432 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992432 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	44 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460997.30339193 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.535ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460997.89626837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004170 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004170 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424878 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424878 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102849 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102849 ms (missed cycles : 2).[0m ×2 + 9.10sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788461003.68639779 seconds ×3 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833503 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833503 ms (missed cycles : 3).[0m ×2 + 10.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.65sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.68sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788461005.26301146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660397 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660397 ms (missed cycles : 3).[0m ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933854 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933854 ms (missed cycles : 2).[0m ×2 + 12.40sINFOros2_control_nodeMuJoCo sim: 2.65% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776778 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776778 ms (missed cycles : 3).[0m ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267508 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267508 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	39 warnings · 140 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120126 ms (missed cycles : 4). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120126 ms (missed cycles : 4).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816179 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816179 ms (missed cycles : 4).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128566 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128566 ms (missed cycles : 3).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788461173.80711293 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.777ms + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.999ms + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788461174.39387274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131211 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131211 ms (missed cycles : 2).[0m ×2 + 4.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387729 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387729 ms (missed cycles : 3).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734305 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734305 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 9.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 10.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 12.99sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	36 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.59sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460933.92844462 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.163ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460934.50954723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.5177e-05 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 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 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.920ms + 6.20sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.396ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617170 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617170 ms (missed cycles : 3).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.338ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148258 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148258 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176375 ms (missed cycles : 5). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176375 ms (missed cycles : 5).[0m ×2 + 8.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788460940.07967520 seconds ×3 + 9.00sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.164ms + 9.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.35sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788460940.66326761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073829 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073829 ms (missed cycles : 3).[0m ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663218 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663218 ms (missed cycles : 3).[0m ×2 + 11.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815507 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815507 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 117 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.677ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.732ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.535ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461254.00409842 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.557ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461254.61799002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461255.19811416 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461255.77443051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461256.27455449 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2). + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223642 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223642 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.74sINFOobjective_server_nodecaller: ×10 + 0.74sINFOobjective_server_nodetype: 0 ×10 + 0.74sINFOobjective_server_nodename: "" ×10 + 0.74sINFOobjective_server_nodeinstance_id: "" ×10 + 0.74sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.78sINFOmove_groupClearing octomap...[0m ×2 + 0.78sINFOmove_groupOctomap cleared.[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.69sINFOjoint_trajectory_controllerReceived new action goal + 4.69sINFOjoint_trajectory_controllerAccepted new action goal + 4.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725060 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725060 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460933.92844462 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.163ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460934.50954723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.5177e-05 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.920ms + 6.20sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.396ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602241 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909955 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658538 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788460933.92844462 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.163ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788460934.50954723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467022 ms (missed cycles : 3).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611994 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.5177e-05 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOjoint_trajectory_controllerReceived new action goal + 4.45sINFOjoint_trajectory_controllerAccepted new action goal + 4.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360475 ms (missed cycles : 3).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.920ms + 6.20sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.396ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 76 info
+ 0.00sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.920ms + 0.50sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.396ms + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617170 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617170 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.338ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148258 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148258 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176375 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176375 ms (missed cycles : 5).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788460940.07967520 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.164ms + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788460940.66326761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073829 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073829 ms (missed cycles : 3).[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663218 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663218 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815507 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815507 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	20 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460997.30339193 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.535ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460997.89626837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal + 4.05sINFOjoint_trajectory_controllerAccepted new action goal + 4.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	20 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460997.30339193 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.535ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460997.89626837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal + 4.05sINFOjoint_trajectory_controllerAccepted new action goal + 4.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	20 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460997.30339193 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.535ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460997.89626837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal + 4.05sINFOjoint_trajectory_controllerAccepted new action goal + 4.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	20 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460997.30339193 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.535ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460997.89626837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal + 4.05sINFOjoint_trajectory_controllerAccepted new action goal + 4.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	20 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684978 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968748 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886627 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788460997.30339193 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.535ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.27sINFOobjective_server_nodecaller: ×2 + 3.27sINFOobjective_server_nodetype: 0 ×2 + 3.27sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062697 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788460997.89626837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.05sINFOjoint_trajectory_controllerReceived new action goal + 4.05sINFOjoint_trajectory_controllerAccepted new action goal + 4.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635479 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063168 ms (missed cycles : 4).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	25 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4).[0m ×2 + 0.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2). + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461036.43315458 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.34sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 1.920ms + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-3.14, 11.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-4.04, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461037.00978184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	25 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4).[0m ×2 + 0.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2). + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461036.43315458 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.34sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 1.920ms + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-3.14, 11.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-4.04, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461037.00978184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	25 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663922 ms (missed cycles : 4).[0m ×2 + 0.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939545 ms (missed cycles : 2).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943651 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2). + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929805 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461036.43315458 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.30sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.34sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 1.920ms + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-3.14, 11.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-4.04, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461037.00978184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376675 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295475 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944110 ms (missed cycles : 2).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854046 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706927 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461187 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461180.25399303 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674063 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461180.83739853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230613 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107006 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOjoint_trajectory_controllerAccepted new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423766 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 117 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.677ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.732ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810469 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.535ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287070 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461254.00409842 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.557ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130393 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461254.61799002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461255.19811416 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269974 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461255.77443051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461256.27455449 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2). + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708349 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311392 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.70sINFOjoint_trajectory_controllerReceived new action goal + 6.70sINFOjoint_trajectory_controllerAccepted new action goal + 6.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 300 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233983 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725060 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725060 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089961 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898251 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788460888.30339050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788460888.31362367 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949143 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788460888.88694072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788460888.89705133 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788460889.47230840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788460889.62281966 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677728 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788460890.22245955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788460890.27258968 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788460890.85081100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912976 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829101 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2