MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.4s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	16.8s	12 errors · 296 warnings · 1511 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/2026-09-03-18-51-57-602464-c0d35936aba3-7448 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 3.14sINFOstatic_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' + 3.15sINFOstatic_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' + 3.24sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 3.25sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 3.26sINFOcontroller_managerupdate rate is 600 Hz + 3.26sINFOcontroller_managerOverruns handling is : enabled + 3.26sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.26sWARNcontroller_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. + 3.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 3.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226461 ms (missed cycles : 2). + 3.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 3.33sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 3.34sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 3.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 3.40sINFOros2_control_node-9process started with pid [7506] ×2 + 3.40sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 3.41sINFOmove_group-21process started with pid [7597] ×2 + 3.41sINFOparameter_manager_node-22process started with pid [7598] ×2 + 3.41sINFOwaypoint_manager_node-23process started with pid [7599] ×2 + 3.41sINFOmove_joint_resampler_node-24process started with pid [7633] ×2 + 3.41sINFOmove_end_effector_resampler_node-25process started with pid [7634] ×2 + 3.41sINFOobjective_server_node_main-26process started with pid [7635] ×2 + 3.41sINFOcomponent_container_mt-27process started with pid [7636] ×2 + 3.41sINFOcomponent_container_mt-28process started with pid [7637] ×2 + 3.41sINFOexecute_objective_bridge-29process started with pid [7642] ×2 + 3.41sINFOui_teleop_bridge-30process started with pid [7643] ×2 + 3.41sINFOweb_bridge-31process started with pid [7644] ×2 + 3.41sINFOtf2_web_republisher_node-32process started with pid [7660] ×2 + 3.41sINFOvideo_server-33process started with pid [7667] ×2 + 3.41sINFOweb_bridge_auth_proxy-34process started with pid [7668] ×2 + 3.41sINFOweb_video_auth_proxy-35process started with pid [7696] ×2 + 3.41sINFOcomponent_container_isolated-1process started with pid [7498] ×2 + 3.41sINFOcomponent_container_isolated-2process started with pid [7499] ×2 + 3.41sINFOstatic_transform_publisher-3process started with pid [7500] ×2 + 3.41sINFOstatic_transform_publisher-4process started with pid [7501] ×2 + 3.41sINFOodom_qos_relay.py-5process started with pid [7502] ×2 + 3.41sINFOforward_stereo_publisher.py-6process started with pid [7503] ×2 + 3.41sINFOscan_to_scan_filter_chain-7process started with pid [7504] ×2 + 3.41sINFOscan_to_scan_filter_chain-8process started with pid [7505] ×2 + 3.42sINFOros2-10process started with pid [7584] ×2 + 3.42sINFOros2-11process started with pid [7585] ×2 + 3.42sINFOros2-12process started with pid [7586] ×2 + 3.42sINFOros2-13process started with pid [7587] ×2 + 3.42sINFOros2-14process started with pid [7588] ×2 + 3.42sINFOros2-15process started with pid [7589] ×2 + 3.42sINFOros2-16process started with pid [7590] ×2 + 3.42sINFOros2-17process started with pid [7591] ×2 + 3.42sINFOros2-18process started with pid [7592] ×2 + 3.42sINFOros2-19process started with pid [7593] ×2 + 3.42sINFOros2-20process started with pid [7594] ×2 + 3.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.44sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 3.44sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 3.44sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 3.44sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 3.44sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 3.44sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 3.44sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 3.44sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 3.44sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.44sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 3.44sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.44sWARNros2_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 + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226461 ms (missed cycles : 2).[0m ×2 + 3.45sINFOcontroller_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. + 3.51sINFOvideo_server2026/09/03 18:52:02 INF MediaMTX v1.20.1, linux, amd64 ×2 + 3.51sINFOvideo_server2026/09/03 18:52:02 INF configuration loaded from /tmp/moveit-webrtc-407r98ax/mediamtx.yml ×2 + 3.51sINFOvideo_server2026/09/03 18:52:02 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 3.51sINFOvideo_server2026/09/03 18:52:02 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.53sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 3.53sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 3.53sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.53sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.54sINFOcontroller_serverCreating controller server + 3.55sINFOmap_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. + 3.55sINFOmap_serverCreating + 3.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 3.55sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 3.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.57sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.58sINFOlocal_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. + 3.59sINFOlocal_costmap.local_costmapCreating Costmap + 3.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 3.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 3.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.61sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 3.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.61sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 3.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 3.63sINFOsmoother_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. + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 3.64sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 3.64sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 3.64sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 3.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.65sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.66sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.66sINFOlifecycle_manager_localizationCreating + 3.68sINFOsmoother_serverCreating smoother server + 3.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 3.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 3.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 3.70sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 3.71sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 3.71sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 3.72sINFOmap_serverConfiguring + 3.72sINFOplanner_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. + 3.73sINFOrobot_state_publisherRobot initialized + 3.73sINFOcomponent_container_mtRobot initialized[0m ×2 + 3.74sINFOplanner_serverCreating + 3.74sINFOcontroller_managerReceived robot description from topic. + 3.74sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 3.74sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 3.74sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 3.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 3.76sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 3.76sINFOamclConfiguring + 3.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 3.76sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 3.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 3.76sINFOmap_serverActivating + 3.76sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 3.76sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 3.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 3.77sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 3.77sINFOglobal_costmap.global_costmapCreating Costmap + 3.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 3.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 3.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 3.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 3.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 3.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 3.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 3.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 3.83sINFObehavior_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. + 3.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 3.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 3.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 3.87sINFOlifecycle_manager_localizationServer map_server connected with bond. + 3.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 3.87sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 3.87sINFOamclActivating + 3.87sINFOamclSubscribed to initial_pose_topic: /initialpose + 3.88sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 3.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 3.89sINFOamclSubscribed to map_topic: /map + 3.89sINFOamclSubscribed to scan_topic: /scan_merged + 3.89sINFOamclCreated reinitialize_global_localization service + 3.89sINFOamclCreated request_nomotion_update service + 3.89sINFOamclA new map was received + 3.89sINFOamclInitializing particle filter instance + 3.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 3.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 3.94sINFObt_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. + 3.96sINFObt_navigatorCreating + 3.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 3.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 3.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 3.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.02sINFOwaypoint_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. + 4.02sINFOwaypoint_followerCreating + 4.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.06sINFOvelocity_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. + 4.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.12sINFOlifecycle_manager_navigationCreating + 4.12sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.258997 seconds + 4.12sINFOmove_groupLoaded robot model in 0.258997 seconds[0m ×2 + 4.13sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 4.13sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 4.13sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 4.13sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 4.13sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.15sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.15sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.15sINFOcontroller_serverConfiguring controller interface + 4.15sINFOcontroller_servergetting progress checker plugins.. + 4.15sINFOcontroller_servergetting goal checker plugins.. + 4.15sINFOcontroller_serverController frequency set to 20.0000Hz + 4.15sINFOlocal_costmap.local_costmapConfiguring + 4.15sWARNlaser_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. + 4.15sWARNscan_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 + 4.15sWARNlaser_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. + 4.16sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 4.20sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 4.21sINFOamclParticle filter initialization completed + 4.21sINFOamclInitializing particles from estimated pose and covariance + 4.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 4.23sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.23sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.25sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 4.25sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 4.26sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 4.29sINFOlifecycle_manager_localizationServer amcl connected with bond. + 4.29sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 4.29sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 4.31sINFOamclThe bond connection to the lifecycle manager is now fully formed + 4.32sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 4.32sINFOcontroller_serverController Server has progress_checker progress checkers available. + 4.32sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 4.33sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 4.33sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 4.36sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 4.37sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 4.37sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 4.38sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 4.38sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 4.38sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 4.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 4.39sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 4.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 4.40sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 4.40sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 4.41sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 4.42sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 4.42sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 4.42sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 4.42sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 4.42sINFOcontroller_serverOptimizer reset ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981185 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981185 ms (missed cycles : 2).[0m ×2 + 4.43sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 4.43sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 4.43sWARNmove_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. + 4.43sWARNmove_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. + 4.44sWARNmove_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. + 4.44sWARNmove_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. + 4.44sWARNmove_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 + 4.44sWARNmove_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. + 4.44sWARNmove_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. + 4.44sWARNmove_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. + 4.44sWARNmove_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. + 4.44sWARNmove_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. + 4.44sWARNmove_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. + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sWARNmove_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 + 4.44sINFOcontroller_serverController Server has FollowPath controllers available. + 4.47sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 4.47sINFOsmoother_serverConfiguring smoother server + 4.49sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 4.50sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 4.52sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 4.52sINFOplanner_serverConfiguring + 4.52sINFOglobal_costmap.global_costmapConfiguring + 4.53sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 4.54sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 4.54sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 4.54sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 4.54sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 4.57sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 4.57sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 4.58sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 4.60sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 4.60sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 4.60sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 4.61sINFOplanner_serverPlanner Server has GridBased planners available. + 4.62sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 4.62sINFObehavior_serverConfiguring + 4.62sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 4.62sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 4.63sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 4.63sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 4.63sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 4.64sINFObehavior_serverConfiguring spin + 4.64sINFObehavior_serverConfiguring backup + 4.65sINFObehavior_serverConfiguring drive_on_heading + 4.65sINFObehavior_serverConfiguring assisted_teleop + 4.66sINFObehavior_serverConfiguring wait + 4.66sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 4.66sINFObt_navigatorConfiguring + 4.67sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 4.67sWARNbt_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 + 4.71sINFOwaypoint_manager_nodeLoaded robot model in 0.213404 seconds[0m ×2 + 4.71sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 4.71sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 4.78sINFOmove_group[2026-09-03 18:52:03.733] [moveit_pro_license] [info] ×2 + 4.78sINFOmove_group************************************************* ×4 + 4.78sINFOmove_group* MoveIt Pro License ×2 + 4.78sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.79sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 4.81sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 4.81sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 4.81sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 4.81sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 4.82sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 4.82sINFOwaypoint_followerConfiguring + 4.83sINFOros2_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 + 4.84sINFOros2_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 + 4.84sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 4.84sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 4.84sINFOvelocity_smootherConfiguring velocity smoother + 4.85sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 4.85sINFOcontroller_serverActivating + 4.85sINFOlocal_costmap.local_costmapActivating + 4.85sINFOlocal_costmap.local_costmapChecking transform + 4.85sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×7 + 4.95sWARNwaypoint_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. + 4.95sWARNwaypoint_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. + 4.95sWARNwaypoint_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 + 4.95sWARNwaypoint_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 + 4.95sWARNwaypoint_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. + 4.95sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.96sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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. + 4.97sWARNwaypoint_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 + 4.97sWARNwaypoint_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 + 4.98sWARNwaypoint_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 + 4.98sWARNwaypoint_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 + 4.98sWARNwaypoint_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 + 4.98sWARNwaypoint_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 + 5.08sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 5.08sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 5.08sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 5.08sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 5.08sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 5.08sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 5.08sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 5.08sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 5.08sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 5.09sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 5.09sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 5.09sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 5.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 5.10sINFOmove_groupStarting planning scene monitor[0m ×2 + 5.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 5.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 5.10sINFOmove_groupListening to '/planning_scene'[0m ×2 + 5.10sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 5.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 5.10sINFOmove_groupListening to 'collision_object'[0m ×2 + 5.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 5.10sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 5.29sINFOwaypoint_manager_node[2026-09-03 18:52:04.239] [moveit_pro_license] [info] ×2 + 5.29sINFOwaypoint_manager_node************************************************* ×4 + 5.29sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 5.29sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 5.43sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 5.43sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 5.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 5.45sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 5.45sINFOstreaming_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) + 5.45sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.45sINFOcomponent_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 + 5.45sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 5.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 5.47sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 5.47sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 5.47sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 5.47sWARNros2_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 + 5.47sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 5.47sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.47sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 5.47sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 5.47sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 5.47sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.47sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.47sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 5.47sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.47sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.47sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.47sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.47sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 5.47sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.47sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.47sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 5.47sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 5.47sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 5.47sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 5.47sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 5.47sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 5.47sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 5.47sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 5.47sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 5.47sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.47sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.47sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.47sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.47sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.47sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.47sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.47sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 5.48sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 5.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 5.48sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 5.49sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 5.50sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 5.54sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 5.54sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 5.54sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 5.54sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 5.55sINFOplatform_velocity_controllerconfigure successful + 5.55sINFOros2_control_nodeconfigure successful[0m ×6 + 5.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×20 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 5.56sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 5.56sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 5.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 5.58sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 5.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 5.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 5.59sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 5.59sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 5.60sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 5.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 5.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 5.65sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 5.65sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 5.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 5.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 5.66sINFOstreaming_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) + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.66sINFOcomponent_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 + 5.71sINFOros2_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 + 5.71sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.71sWARNros2_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 + 5.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 5.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 5.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 5.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 5.73sWARNcomponent_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 + 5.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 5.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 5.85sINFOros2-13process has finished cleanly [pid 7587] ×2 + 5.91sINFOobjective_server_node[2026-09-03 18:52:04.868] [moveit_pro_license] [info] ×2 + 5.91sINFOobjective_server_node************************************************* ×4 + 5.91sINFOobjective_server_node* MoveIt Pro License ×2 + 5.91sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958400 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958400 ms (missed cycles : 2).[0m ×2 + 5.96sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 5.96sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 5.97sINFOobjective_server_nodeLoaded robot model in 0.0247867 seconds[0m ×2 + 5.97sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 5.97sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.01sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 6.01sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 6.01sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 6.01sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 6.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 6.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 6.11sINFOcomponent_container_mtLoaded robot model in 0.371124 seconds[0m ×2 + 6.11sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 6.11sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.27sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.27sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.27sWARNobjective_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. + 6.27sWARNobjective_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 + 6.27sWARNobjective_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. + 6.27sWARNobjective_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 + 6.27sWARNobjective_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. + 6.27sWARNobjective_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. + 6.27sWARNobjective_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 + 6.27sWARNobjective_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 + 6.28sWARNobjective_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. + 6.28sWARNobjective_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. + 6.28sWARNobjective_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 + 6.28sWARNobjective_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. + 6.28sWARNobjective_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. + 6.28sWARNobjective_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 + 6.28sWARNobjective_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 + 6.28sWARNobjective_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. + 6.28sWARNobjective_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. + 6.28sWARNobjective_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 + 6.28sWARNobjective_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 + 6.28sWARNobjective_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 + 6.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.35sINFOros2_control_node[2026-09-03 18:52:05.300] [info] Controller state will be published at 20 Hz. ×2 + 6.35sINFOobjective_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 + 6.35sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 6.35sINFOros2_control_node[2026-09-03 18:52:05.302] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.37sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 6.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 6.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 6.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 6.37sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 6.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 6.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 6.37sINFOmove_groupMoveGroup debug mode is ON + 6.37sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 6.38sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 6.40sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 6.41sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 6.41sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 6.41sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 6.41sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 6.41sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 6.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 6.42sWARNplanning_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. + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNplanning_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. + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.42sWARNplanning_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. + 6.42sWARNcomponent_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 + 6.43sWARNcomponent_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 + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.43sWARNplanning_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. + 6.43sWARNcomponent_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 + 6.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 6.48sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 6.48sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 6.51sINFOmove_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 ****************************************************** + 6.51sINFOmove_group ×8 + 6.51sINFOmove_group****************************************************** ×4 + 6.51sINFOmove_group* MoveGroup using: ×2 + 6.51sINFOmove_group* - apply_planning_scene_service ×2 + 6.51sINFOmove_group* - clear_octomap_service ×2 + 6.51sINFOmove_group* - get_group_urdf ×2 + 6.51sINFOmove_group* - load_geometry_from_file ×2 + 6.51sINFOmove_group* - get_planning_scene_service ×2 + 6.51sINFOmove_group* - kinematics_service ×2 + 6.51sINFOmove_group* - save_geometry_to_file ×2 + 6.51sINFOmove_group* - GetPlanningGroups ×2 + 6.51sINFOmove_group* - URDFPlanningSceneCapability ×2 + 6.51sINFOmove_group[0m ×2 + 6.51sINFOmove_group[92mYou can start planning now![0m ×2 + 6.65sINFOros2-20process has finished cleanly [pid 7594] ×2 + 6.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.66sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 6.66sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.66sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 6.68sINFOcomponent_container_mt[2026-09-03 18:52:05.629] [moveit_pro_license] [info] ×2 + 6.68sINFOcomponent_container_mt************************************************* ×4 + 6.68sINFOcomponent_container_mt* MoveIt Pro License ×2 + 6.68sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 6.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 6.71sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788461524.555 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 6.75sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 6.75sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 6.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 6.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 6.94sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 6.94sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 6.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 6.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 7.01sINFOros2_control_node[2026-09-03 18:52:05.960] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 7.01sINFOros2_control_node[2026-09-03 18:52:05.962] [info] Controller state will be published at 10 Hz. ×2 + 7.01sINFOros2_control_node[2026-09-03 18:52:05.963] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231541 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231541 ms (missed cycles : 2).[0m ×2 + 7.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 7.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 7.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 7.10sWARNobjective_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 + 7.32sINFOros2-18process has finished cleanly [pid 7592] ×2 + 7.33sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.33sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.33sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.33sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 7.33sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.33sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 7.37sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.37sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.37sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.37sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.38sINFOplatform_velocity_controller_nav2configure successful + 7.45sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.45sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.45sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.45sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.71sINFOros2-15process has finished cleanly [pid 7589] ×2 + 7.72sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.72sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.72sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.72sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.72sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 7.73sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 7.74sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 8.13sINFOros2-14process has finished cleanly [pid 7588] ×2 + 8.14sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.14sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.14sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.14sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.14sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 8.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 8.19sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.19sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.21sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.21sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137198 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137198 ms (missed cycles : 2).[0m ×2 + 8.35sINFOlocal_costmap.local_costmapstart + 8.42sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.026ms + 8.46sWARNcontroller_serverParameter controller_server.verbose not found + 8.46sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 8.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 8.53sINFOros2-12process has finished cleanly [pid 7586] ×2 + 8.54sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.54sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.56sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 8.56sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 8.57sINFOsmoother_serverActivating + 8.57sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 8.67sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.67sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.67sINFOplanner_serverActivating + 8.67sINFOglobal_costmap.global_costmapActivating + 8.67sINFOglobal_costmap.global_costmapChecking transform + 8.67sINFOglobal_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 1788461527.619665 but the earliest data is at time 1788461528.255213, when looking up transform from frame [ridgeback_base_link] to frame [map] + 8.79sINFOros2_control_node[2026-09-03 18:52:07.738] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.79sINFOros2_control_node[2026-09-03 18:52:07.739] [info] Controller state will be published at 10 Hz. ×2 + 8.79sINFOros2_control_node[2026-09-03 18:52:07.741] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 9.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 9.12sINFOros2-17process has finished cleanly [pid 7591] ×2 + 9.14sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.14sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.14sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.14sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.15sINFOforce_torque_sensor_broadcasterconfigure successful + 9.15sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.17sINFOglobal_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 1788461528.077880 but the earliest data is at time 1788461528.255213, when looking up transform from frame [ridgeback_base_link] to frame [map] + 9.32sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788461527.155 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966904 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966904 ms (missed cycles : 2).[0m ×2 + 9.50sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.50sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.50sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.50sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.50sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 9.50sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 9.50sINFOros2-10process has finished cleanly [pid 7584] ×2 + 9.54sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.54sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.54sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.54sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.55sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.55sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.55sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.55sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.67sINFOglobal_costmap.global_costmapstart + 9.89sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.89sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.89sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.89sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 9.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 9.91sINFOros2-11process has finished cleanly [pid 7585] ×2 + 9.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.18sINFOros2_control_node[2026-09-03 18:52:09.134] [info] Controller state will be published at 20 Hz. ×2 + 10.18sINFOros2_control_node[2026-09-03 18:52:09.135] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.51sINFOros2-19process has finished cleanly [pid 7593] ×2 + 10.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr + 10.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_2cs9fqn4 --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_v8nc0wid --params-file /tmp/launch_params_8gsq3dbr [0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505259 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505259 ms (missed cycles : 2).[0m ×2 + 10.61sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.61sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.61sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.61sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.61sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.61sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.61sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.61sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.62sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.62sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.62sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.62sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.72sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 10.72sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 10.83sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 10.83sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 10.83sINFObehavior_serverActivating + 10.83sINFObehavior_serverActivating spin + 10.83sINFObehavior_serverActivating backup + 10.83sINFObehavior_serverActivating drive_on_heading + 10.83sINFObehavior_serverActivating assisted_teleop + 10.83sINFObehavior_serverActivating wait + 10.83sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 10.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 10.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 10.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 10.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 10.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 10.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 10.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 10.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 10.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 10.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 10.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 10.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 10.93sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 10.93sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 10.93sINFObt_navigatorActivating + 10.93sINFOros2-16process has finished cleanly [pid 7590] ×2 + 10.98sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.08sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.08sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.08sINFOwaypoint_followerActivating + 11.08sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.19sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.19sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.19sINFOvelocity_smootherActivating + 11.19sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.29sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.29sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.29sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680568 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680568 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088176 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088176 ms (missed cycles : 2).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 15.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.97sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 15.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 15.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 15.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 15.97sINFOobjective_server_nodecaller: ×10 + 15.97sINFOobjective_server_nodetype: 0 ×10 + 15.97sINFOobjective_server_nodename: "" ×10 + 15.97sINFOobjective_server_nodeinstance_id: "" ×10 + 15.97sINFOobjective_server_node ×10 + 15.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 15.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 15.99sINFOmove_groupClearing octomap...[0m ×2 + 15.99sINFOmove_groupOctomap cleared.[0m ×2 + 16.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 16.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 16.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 16.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 17.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 17.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 17.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 17.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.87sINFOobjective_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 + 17.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 17.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 17.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 17.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 17.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 17.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 18.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 18.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 18.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 18.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 18.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 18.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 18.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 18.48sINFOros2_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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	70.4s	3 errors · 228 warnings · 277 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.844ms + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.720ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312751 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312751 ms (missed cycles : 2).[0m ×2 + 1.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.940ms + 1.56sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 4.400ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175236 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175236 ms (missed cycles : 2).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 3.953ms + 2.56sINFOamclParticle filter update iteration stats: 2878 particles 723 points - 2.959ms + 2.90sINFOobjective_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 + 2.91sINFOjoint_trajectory_controllerGot request to cancel goal + 2.91sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.91sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.95sERRORobjective_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: 1788461744.37145782 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 2.97sINFOros2_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 + 3.06sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 2.705ms + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-0.79, 3.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 3.75) 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 1.819887 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819887 ms (missed cycles : 2).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.289ms + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788461744.94031310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915549 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915549 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654031 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654031 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820859 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820859 ms (missed cycles : 2).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430219 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430219 ms (missed cycles : 2).[0m ×2 + 7.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.669ms + 7.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.085ms + 8.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.268ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972111 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972111 ms (missed cycles : 2).[0m ×2 + 8.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.890ms + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.157ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880368 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880368 ms (missed cycles : 2).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.411ms + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.866ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975812 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975812 ms (missed cycles : 2).[0m ×2 + 10.96sINFOamclParticle filter update iteration stats: 4259 particles 723 points - 4.606ms + 11.46sINFOamclParticle filter update iteration stats: 3128 particles 723 points - 3.873ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110674 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110674 ms (missed cycles : 2).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 2.311ms + 12.46sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.194ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459987 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459987 ms (missed cycles : 2).[0m ×2 + 12.96sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 1.511ms + 13.46sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 1.344ms + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436083 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436083 ms (missed cycles : 2).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.320ms + 14.46sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.490ms + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946245 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946245 ms (missed cycles : 2).[0m ×2 + 14.96sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.297ms + 15.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881302 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881302 ms (missed cycles : 2).[0m ×2 + 15.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 16.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371536 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371536 ms (missed cycles : 3).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374248 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374248 ms (missed cycles : 2).[0m ×2 + 17.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms ×2 + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890392 ms (missed cycles : 2). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890392 ms (missed cycles : 2).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms ×2 + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855584 ms (missed cycles : 3). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855584 ms (missed cycles : 3).[0m ×2 + 20.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153168 ms (missed cycles : 3). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153168 ms (missed cycles : 3).[0m ×2 + 21.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816176 ms (missed cycles : 2). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816176 ms (missed cycles : 2).[0m ×2 + 22.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 22.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654701 ms (missed cycles : 2). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654701 ms (missed cycles : 2).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462997 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462997 ms (missed cycles : 2).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883792 ms (missed cycles : 2). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883792 ms (missed cycles : 2).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.666ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162118 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162118 ms (missed cycles : 2).[0m ×2 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 26.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055504 ms (missed cycles : 2). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055504 ms (missed cycles : 2).[0m ×2 + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 28.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627237 ms (missed cycles : 2). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627237 ms (missed cycles : 2).[0m ×2 + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974132 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974132 ms (missed cycles : 2).[0m ×2 + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827873 ms (missed cycles : 2). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827873 ms (missed cycles : 2).[0m ×2 + 30.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 31.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727212 ms (missed cycles : 2). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727212 ms (missed cycles : 2).[0m ×2 + 32.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813997 ms (missed cycles : 2). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813997 ms (missed cycles : 2).[0m ×2 + 33.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.48sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.48sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.65sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616451 ms (missed cycles : 2). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616451 ms (missed cycles : 2).[0m ×2 + 34.30sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642076 ms (missed cycles : 3). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642076 ms (missed cycles : 3).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851344 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851344 ms (missed cycles : 2).[0m ×2 + 36.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 37.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688263 ms (missed cycles : 2). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688263 ms (missed cycles : 2).[0m ×2 + 37.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 37.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.713ms + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143486 ms (missed cycles : 2). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143486 ms (missed cycles : 2).[0m ×2 + 38.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 38.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.651ms + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303501 ms (missed cycles : 2). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303501 ms (missed cycles : 2).[0m ×2 + 39.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.620ms + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105916 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105916 ms (missed cycles : 2).[0m ×2 + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013255 ms (missed cycles : 2). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013255 ms (missed cycles : 2).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487082 ms (missed cycles : 2). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487082 ms (missed cycles : 2).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459202 ms (missed cycles : 2). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459202 ms (missed cycles : 2).[0m ×2 + 44.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452597 ms (missed cycles : 3). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452597 ms (missed cycles : 3).[0m ×2 + 44.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859643 ms (missed cycles : 2). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859643 ms (missed cycles : 2).[0m ×2 + 45.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097918 ms (missed cycles : 2). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097918 ms (missed cycles : 2).[0m ×2 + 47.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204686 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204686 ms (missed cycles : 2).[0m ×2 + 47.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms + 48.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458202 ms (missed cycles : 2). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458202 ms (missed cycles : 2).[0m ×2 + 49.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325606 ms (missed cycles : 2). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325606 ms (missed cycles : 2).[0m ×2 + 50.53sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501343 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501343 ms (missed cycles : 2).[0m ×2 + 51.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496106 ms (missed cycles : 3). + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496106 ms (missed cycles : 3).[0m ×2 + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450703 ms (missed cycles : 2). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450703 ms (missed cycles : 2).[0m ×2 + 53.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232134 ms (missed cycles : 2). + 53.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232134 ms (missed cycles : 2).[0m ×2 + 54.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947498 ms (missed cycles : 2). + 54.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947498 ms (missed cycles : 2).[0m ×2 + 54.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 55.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.699ms + 55.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784591 ms (missed cycles : 2). + 55.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784591 ms (missed cycles : 2).[0m ×2 + 56.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 56.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585446 ms (missed cycles : 2). + 56.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585446 ms (missed cycles : 2).[0m ×2 + 57.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334604 ms (missed cycles : 3). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334604 ms (missed cycles : 3).[0m ×2 + 58.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850326 ms (missed cycles : 2). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850326 ms (missed cycles : 2).[0m ×2 + 59.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653013 ms (missed cycles : 2). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653013 ms (missed cycles : 2).[0m ×2 + 60.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.683ms + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741186 ms (missed cycles : 2). + 61.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741186 ms (missed cycles : 2).[0m ×2 + 61.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 62.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395519 ms (missed cycles : 2). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395519 ms (missed cycles : 2).[0m ×2 + 62.80sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 63.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717865 ms (missed cycles : 2). + 63.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717865 ms (missed cycles : 2).[0m ×2 + 64.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905761 ms (missed cycles : 2). + 64.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905761 ms (missed cycles : 2).[0m ×2 + 65.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423281 ms (missed cycles : 3). + 65.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423281 ms (missed cycles : 3).[0m ×2 + 66.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761135 ms (missed cycles : 2). + 66.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761135 ms (missed cycles : 2).[0m ×2 + 66.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.655ms + 67.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.663ms + 67.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119895 ms (missed cycles : 2). + 67.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119895 ms (missed cycles : 2).[0m ×2 + 68.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 68.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192547 ms (missed cycles : 2). + 68.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192547 ms (missed cycles : 2).[0m ×2 + 69.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140893 ms (missed cycles : 2). + 69.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 69.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140893 ms (missed cycles : 2).[0m ×2 + 70.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 70.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100317 ms (missed cycles : 2). + 70.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100317 ms (missed cycles : 2).[0m ×2 + 70.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 71.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042845 ms (missed cycles : 3). + 71.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042845 ms (missed cycles : 3).[0m ×2 + 71.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 72.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202076 ms (missed cycles : 2). + 72.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202076 ms (missed cycles : 2).[0m ×2 + 73.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788461814.81046677 seconds ×3 + 73.49sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 73.49sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 73.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.690ms + 73.59sWARNlocal_costmap.local_costmapSensor origin at (-0.25, 3.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 73.59sWARNlocal_costmap.local_costmapSensor origin at (-1.15, 3.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 73.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173500 ms (missed cycles : 2). + 73.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173500 ms (missed cycles : 2).[0m ×2 + 73.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.625ms + 73.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 73.93sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 73.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788461815.37919164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 74.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748492 ms (missed cycles : 2). + 74.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748492 ms (missed cycles : 2).[0m ×2 + 75.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231630 ms (missed cycles : 2). + 75.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231630 ms (missed cycles : 2).[0m ×2 + 76.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 76.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.1s	181 warnings · 211 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.80sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms + 7.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.324ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744698 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744698 ms (missed cycles : 2).[0m ×2 + 7.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 8.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.651ms + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983895 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983895 ms (missed cycles : 2).[0m ×2 + 8.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.881ms + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.558ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407626 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407626 ms (missed cycles : 2).[0m ×2 + 9.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.722ms + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.281ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930414 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930414 ms (missed cycles : 2).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.092ms + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.828ms + 11.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.365ms + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733733 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733733 ms (missed cycles : 2).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 4.531ms + 12.86sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 4.282ms + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742737 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742737 ms (missed cycles : 2).[0m ×2 + 13.36sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 3.685ms + 13.86sINFOamclParticle filter update iteration stats: 2701 particles 723 points - 3.087ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263800 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263800 ms (missed cycles : 2).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 2.641ms + 14.86sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 2.114ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541926 ms (missed cycles : 3). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541926 ms (missed cycles : 3).[0m ×2 + 15.36sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.649ms + 15.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640888 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640888 ms (missed cycles : 3).[0m ×2 + 16.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 16.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099858 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099858 ms (missed cycles : 2).[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms ×2 + 17.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192766 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192766 ms (missed cycles : 2).[0m ×2 + 18.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 18.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 19.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092532 ms (missed cycles : 4). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092532 ms (missed cycles : 4).[0m ×2 + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155808 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155808 ms (missed cycles : 2).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239019 ms (missed cycles : 3). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239019 ms (missed cycles : 3).[0m ×2 + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 22.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007851 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007851 ms (missed cycles : 2).[0m ×2 + 22.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276125 ms (missed cycles : 2). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276125 ms (missed cycles : 2).[0m ×2 + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 24.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922275 ms (missed cycles : 2). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922275 ms (missed cycles : 2).[0m ×2 + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861901 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861901 ms (missed cycles : 2).[0m ×2 + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801395 ms (missed cycles : 2). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801395 ms (missed cycles : 2).[0m ×2 + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 27.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079316 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079316 ms (missed cycles : 2).[0m ×2 + 28.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487287 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487287 ms (missed cycles : 2).[0m ×2 + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937870 ms (missed cycles : 2). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937870 ms (missed cycles : 2).[0m ×2 + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834709 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834709 ms (missed cycles : 2).[0m ×2 + 31.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192351 ms (missed cycles : 2). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192351 ms (missed cycles : 2).[0m ×2 + 33.40sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871745 ms (missed cycles : 2). + 33.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871745 ms (missed cycles : 2).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326587 ms (missed cycles : 2). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326587 ms (missed cycles : 2).[0m ×2 + 35.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043822 ms (missed cycles : 2). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043822 ms (missed cycles : 2).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411418 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411418 ms (missed cycles : 3).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157022 ms (missed cycles : 2). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157022 ms (missed cycles : 2).[0m ×2 + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271126 ms (missed cycles : 2). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271126 ms (missed cycles : 2).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019381 ms (missed cycles : 2). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019381 ms (missed cycles : 2).[0m ×2 + 39.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 40.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850856 ms (missed cycles : 2). + 40.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850856 ms (missed cycles : 2).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045233 ms (missed cycles : 2). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045233 ms (missed cycles : 2).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078678 ms (missed cycles : 2). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078678 ms (missed cycles : 2).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252223 ms (missed cycles : 2). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252223 ms (missed cycles : 2).[0m ×2 + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137226 ms (missed cycles : 2). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137226 ms (missed cycles : 2).[0m ×2 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322953 ms (missed cycles : 2). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322953 ms (missed cycles : 2).[0m ×2 + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332909 ms (missed cycles : 2). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332909 ms (missed cycles : 2).[0m ×2 + 48.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420939 ms (missed cycles : 2). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420939 ms (missed cycles : 2).[0m ×2 + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044509 ms (missed cycles : 2). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044509 ms (missed cycles : 2).[0m ×2 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427773 ms (missed cycles : 2). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427773 ms (missed cycles : 2).[0m ×2 + 50.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957444 ms (missed cycles : 2). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957444 ms (missed cycles : 2).[0m ×2 + 52.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225828 ms (missed cycles : 2). + 52.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225828 ms (missed cycles : 2).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314605 ms (missed cycles : 2). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314605 ms (missed cycles : 2).[0m ×2 + 53.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 54.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534432 ms (missed cycles : 2). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534432 ms (missed cycles : 2).[0m ×2 + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184482 ms (missed cycles : 2). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184482 ms (missed cycles : 2).[0m ×2 + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925795 ms (missed cycles : 2). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925795 ms (missed cycles : 2).[0m ×2 + 57.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611270 ms (missed cycles : 3). + 57.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611270 ms (missed cycles : 3).[0m ×2 + 58.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 58.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788461877.26957798 seconds ×3 + 58.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145949 ms (missed cycles : 2). + 58.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145949 ms (missed cycles : 2).[0m ×2 + 58.99sWARNlocal_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. + 58.99sWARNlocal_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. + 59.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.284ms + 59.09sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 8.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.09sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 8.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 59.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.48sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 59.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788461877.83301687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.78sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 59.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747598 ms (missed cycles : 2). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747598 ms (missed cycles : 2).[0m ×2 + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175554 ms (missed cycles : 2). + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175554 ms (missed cycles : 2).[0m ×2 + 62.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156744 ms (missed cycles : 2). + 62.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156744 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.1s	181 warnings · 218 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015041 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015041 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788461586.05872059 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300188 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300188 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 1.457ms + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788461586.62209010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036618 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036618 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.75sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.75sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×6 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111914 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111914 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956343 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956343 ms (missed cycles : 2).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.115ms + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202700 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202700 ms (missed cycles : 2).[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.032ms + 7.60sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.795ms + 8.10sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.434ms + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858656 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858656 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904848 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904848 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121410 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121410 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 11.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930267 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930267 ms (missed cycles : 2).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726049 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726049 ms (missed cycles : 2).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.703ms + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748152 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748152 ms (missed cycles : 2).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838198 ms (missed cycles : 3). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838198 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198154 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198154 ms (missed cycles : 2).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961656 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961656 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.713ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833436 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833436 ms (missed cycles : 3).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.648ms + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.710ms ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828670 ms (missed cycles : 2). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828670 ms (missed cycles : 2).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054620 ms (missed cycles : 2). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054620 ms (missed cycles : 2).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms ×2 + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847493 ms (missed cycles : 2). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847493 ms (missed cycles : 2).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.668ms + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470683 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470683 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541636 ms (missed cycles : 3). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541636 ms (missed cycles : 3).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519862 ms (missed cycles : 2). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519862 ms (missed cycles : 2).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.768ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251702 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251702 ms (missed cycles : 2).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502140 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502140 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568511 ms (missed cycles : 2). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568511 ms (missed cycles : 2).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353246 ms (missed cycles : 3). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353246 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.663ms + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534853 ms (missed cycles : 2). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534853 ms (missed cycles : 2).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854582 ms (missed cycles : 2). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854582 ms (missed cycles : 2).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979167 ms (missed cycles : 2). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979167 ms (missed cycles : 2).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471357 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471357 ms (missed cycles : 2).[0m ×2 + 33.16sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293101 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293101 ms (missed cycles : 2).[0m ×2 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049879 ms (missed cycles : 2). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049879 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432178 ms (missed cycles : 3). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432178 ms (missed cycles : 3).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036139 ms (missed cycles : 2). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036139 ms (missed cycles : 2).[0m ×2 + 37.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525189 ms (missed cycles : 2). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525189 ms (missed cycles : 2).[0m ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305924 ms (missed cycles : 2). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305924 ms (missed cycles : 2).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064521 ms (missed cycles : 2). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064521 ms (missed cycles : 2).[0m ×2 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640210 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640210 ms (missed cycles : 2).[0m ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938700 ms (missed cycles : 2). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938700 ms (missed cycles : 2).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077173 ms (missed cycles : 2). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077173 ms (missed cycles : 2).[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796137 ms (missed cycles : 2). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796137 ms (missed cycles : 2).[0m ×2 + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074079 ms (missed cycles : 2). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074079 ms (missed cycles : 2).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937878 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937878 ms (missed cycles : 2).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022275 ms (missed cycles : 2). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022275 ms (missed cycles : 2).[0m ×2 + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612552 ms (missed cycles : 2). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612552 ms (missed cycles : 2).[0m ×2 + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899065 ms (missed cycles : 2). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899065 ms (missed cycles : 2).[0m ×2 + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557381 ms (missed cycles : 2). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557381 ms (missed cycles : 2).[0m ×2 + 51.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900059 ms (missed cycles : 2). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900059 ms (missed cycles : 2).[0m ×2 + 52.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451036 ms (missed cycles : 3). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451036 ms (missed cycles : 3).[0m ×2 + 53.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 53.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498859 ms (missed cycles : 3). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498859 ms (missed cycles : 3).[0m ×2 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484529 ms (missed cycles : 2). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484529 ms (missed cycles : 2).[0m ×2 + 55.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719266 ms (missed cycles : 2). + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719266 ms (missed cycles : 2).[0m ×2 + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2).[0m ×2 + 57.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2). + 57.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2).[0m ×2 + 58.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 58.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788461642.12222457 seconds ×3 + 58.83sWARNlocal_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. + 58.83sWARNlocal_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. + 58.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.127ms + 58.93sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.93sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 59.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2). + 59.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2).[0m ×2 + 59.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 59.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788461642.69036484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.59sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 59.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 60.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2). + 60.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2).[0m ×2 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2).[0m ×2 + 62.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2). + 62.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.7s	185 warnings · 233 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.47sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461679.77305555 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_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 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sWARNlocal_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. + 2.63sWARNlocal_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. + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.087ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 `Plan Path Along Surface` starting at time: 1788461680.33571005 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 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2).[0m ×2 + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.90, -3.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.64, -4.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 4.59sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.59sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.59sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×6 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2).[0m ×2 + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.93, -3.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.67, -4.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.923ms + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-2.12, -3.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-1.86, -4.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860309 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860309 ms (missed cycles : 2).[0m ×2 + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.513ms + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.699ms + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675597 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675597 ms (missed cycles : 2).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.202ms + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.773ms + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484888 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484888 ms (missed cycles : 2).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.123ms + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.481ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105482 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105482 ms (missed cycles : 2).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.849ms + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.526ms + 11.01sWARNros2_control_nodeCamera render tick took 0.54 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 + 11.02sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.56 s); wrist_camera (0.56 s). Behaviors waiting on those points topics will time out.[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867728 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867728 ms (missed cycles : 2).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.446ms + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.084ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993318 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993318 ms (missed cycles : 2).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.784ms + 13.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.215ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941942 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941942 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.002ms + 14.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.641ms + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.718ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370058 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370058 ms (missed cycles : 2).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.043ms + 15.50sINFOamclParticle filter update iteration stats: 4322 particles 723 points - 5.091ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665620 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665620 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 3170 particles 723 points - 3.296ms + 16.50sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.554ms + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253881 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253881 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.801ms + 17.50sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.328ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335205 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335205 ms (missed cycles : 3).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335810 ms (missed cycles : 4). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335810 ms (missed cycles : 4).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794327 ms (missed cycles : 3). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794327 ms (missed cycles : 3).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039068 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039068 ms (missed cycles : 2).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463748 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463748 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms ×2 + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056351 ms (missed cycles : 2). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056351 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655404 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655404 ms (missed cycles : 2).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.684ms + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921969 ms (missed cycles : 2). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921969 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104124 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104124 ms (missed cycles : 2).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919969 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919969 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188060 ms (missed cycles : 2). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188060 ms (missed cycles : 2).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.657ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826093 ms (missed cycles : 2). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826093 ms (missed cycles : 2).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011069 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011069 ms (missed cycles : 2).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371869 ms (missed cycles : 2). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371869 ms (missed cycles : 2).[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804406 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804406 ms (missed cycles : 2).[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527220 ms (missed cycles : 2). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527220 ms (missed cycles : 2).[0m ×2 + 34.08sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423010 ms (missed cycles : 2). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423010 ms (missed cycles : 2).[0m ×2 + 34.70sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939641 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939641 ms (missed cycles : 2).[0m ×2 + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994027 ms (missed cycles : 2). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994027 ms (missed cycles : 2).[0m ×2 + 36.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 37.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531194 ms (missed cycles : 3). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531194 ms (missed cycles : 3).[0m ×2 + 38.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms ×2 + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460765 ms (missed cycles : 2). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460765 ms (missed cycles : 2).[0m ×2 + 38.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364865 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364865 ms (missed cycles : 3).[0m ×2 + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140902 ms (missed cycles : 2). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140902 ms (missed cycles : 2).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156116 ms (missed cycles : 2). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156116 ms (missed cycles : 2).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916755 ms (missed cycles : 2). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916755 ms (missed cycles : 2).[0m ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643998 ms (missed cycles : 2). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643998 ms (missed cycles : 2).[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077148 ms (missed cycles : 2). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077148 ms (missed cycles : 2).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286446 ms (missed cycles : 2). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286446 ms (missed cycles : 2).[0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.670ms ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949775 ms (missed cycles : 2). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949775 ms (missed cycles : 2).[0m ×2 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154297 ms (missed cycles : 2). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154297 ms (missed cycles : 2).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.674ms + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351301 ms (missed cycles : 2). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351301 ms (missed cycles : 2).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427180 ms (missed cycles : 2). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427180 ms (missed cycles : 2).[0m ×2 + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339818 ms (missed cycles : 2). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339818 ms (missed cycles : 2).[0m ×2 + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826994 ms (missed cycles : 2). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826994 ms (missed cycles : 2).[0m ×2 + 52.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498987 ms (missed cycles : 3). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498987 ms (missed cycles : 3).[0m ×2 + 54.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.628ms + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120330 ms (missed cycles : 2). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120330 ms (missed cycles : 2).[0m ×2 + 55.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969867 ms (missed cycles : 2). + 55.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969867 ms (missed cycles : 2).[0m ×2 + 55.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.630ms + 56.20sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788461733.47585940 seconds ×3 + 56.33sWARNlocal_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. + 56.33sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 56.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.091ms + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463346 ms (missed cycles : 2). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463346 ms (missed cycles : 2).[0m ×2 + 56.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.77sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788461734.04669809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 57.06sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008380 ms (missed cycles : 2). + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008380 ms (missed cycles : 2).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275853 ms (missed cycles : 2). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275853 ms (missed cycles : 2).[0m ×2 + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965945 ms (missed cycles : 2). + 59.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965945 ms (missed cycles : 2).[0m ×2 + 60.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.364ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.4s	141 warnings · 385 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.72sINFOobjective_server_nodecaller: ×12 + 0.72sINFOobjective_server_nodetype: 0 ×12 + 0.72sINFOobjective_server_nodename: "" ×12 + 0.72sINFOobjective_server_nodeinstance_id: "" ×12 + 0.72sINFOobjective_server_node ×12 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498244 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498244 ms (missed cycles : 2).[0m ×2 + 6.98sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 1.916ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998463 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998463 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929483 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929483 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227317 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227317 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840902 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840902 ms (missed cycles : 2).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385366 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385366 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048746 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048746 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326320 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326320 ms (missed cycles : 2).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448984 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448984 ms (missed cycles : 2).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081078 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081078 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838813 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838813 ms (missed cycles : 2).[0m ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714302 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714302 ms (missed cycles : 2).[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264601 ms (missed cycles : 2). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264601 ms (missed cycles : 2).[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533736 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533736 ms (missed cycles : 2).[0m ×2 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891353 ms (missed cycles : 2). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891353 ms (missed cycles : 2).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952807 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952807 ms (missed cycles : 2).[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045090 ms (missed cycles : 2). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045090 ms (missed cycles : 2).[0m ×2 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369940 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369940 ms (missed cycles : 2).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476145 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476145 ms (missed cycles : 2).[0m ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198851 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198851 ms (missed cycles : 2).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168262 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168262 ms (missed cycles : 2).[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499161 ms (missed cycles : 2). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499161 ms (missed cycles : 2).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880286 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880286 ms (missed cycles : 2).[0m ×2 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862991 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862991 ms (missed cycles : 2).[0m ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610905 ms (missed cycles : 2). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610905 ms (missed cycles : 2).[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688829 ms (missed cycles : 2). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688829 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876893 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876893 ms (missed cycles : 2).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192240 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192240 ms (missed cycles : 2).[0m ×2 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817319 ms (missed cycles : 2). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817319 ms (missed cycles : 2).[0m ×2 + 36.97sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 1.457ms + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642477 ms (missed cycles : 2). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642477 ms (missed cycles : 2).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071454 ms (missed cycles : 2). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071454 ms (missed cycles : 2).[0m ×2 + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155571 ms (missed cycles : 2). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155571 ms (missed cycles : 2).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842311 ms (missed cycles : 2). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842311 ms (missed cycles : 2).[0m ×2 + 42.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796700 ms (missed cycles : 2). + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796700 ms (missed cycles : 2).[0m ×2 + 43.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2).[0m ×2 + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2).[0m ×2 + 46.07sINFOjoint_trajectory_controllerGoal reached, success! + 46.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788461580.30984020 seconds ×3 + 46.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.27sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.324ms + 46.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.64sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788461580.86857963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2).[0m ×2 + 47.42sINFOobjective_server_nodeFound path in 0 iterations (2.0981e-05 s). ×2 + 47.47sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2).[0m ×2 + 48.67sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.225ms + 48.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2). + 48.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2).[0m ×2 + 49.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 49.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 49.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.6s	113 warnings · 193 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736560 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736560 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675019 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675019 ms (missed cycles : 2).[0m ×2 + 1.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788461648.22046399 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838583 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838583 ms (missed cycles : 2).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788461649.78288674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497460 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497460 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804743 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804743 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 4.74sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.74sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.74sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851835 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851835 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208832 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208832 ms (missed cycles : 2).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 7.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.796ms + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746492 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746492 ms (missed cycles : 2).[0m ×2 + 7.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.082ms + 7.86sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.391ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040122 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040122 ms (missed cycles : 2).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.079ms + 9.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.146ms + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.533ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121429 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121429 ms (missed cycles : 2).[0m ×2 + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.022ms + 10.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.056ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080996 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080996 ms (missed cycles : 2).[0m ×2 + 11.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.580ms + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.313ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796254 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796254 ms (missed cycles : 2).[0m ×2 + 12.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.225ms + 12.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.771ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977549 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977549 ms (missed cycles : 2).[0m ×2 + 13.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.184ms + 13.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.604ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646169 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646169 ms (missed cycles : 3).[0m ×2 + 14.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.491ms + 14.65sINFOamclParticle filter update iteration stats: 3990 particles 723 points - 4.826ms + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351495 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351495 ms (missed cycles : 3).[0m ×2 + 15.15sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.036ms + 15.65sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.788ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170946 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170946 ms (missed cycles : 2).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154655 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154655 ms (missed cycles : 2).[0m ×2 + 17.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 17.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.699ms + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973010 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973010 ms (missed cycles : 2).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 19.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893392 ms (missed cycles : 2). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893392 ms (missed cycles : 2).[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 20.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064959 ms (missed cycles : 2). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064959 ms (missed cycles : 2).[0m ×2 + 20.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757311 ms (missed cycles : 2). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757311 ms (missed cycles : 2).[0m ×2 + 21.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815689 ms (missed cycles : 2). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815689 ms (missed cycles : 2).[0m ×2 + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.714ms + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664384 ms (missed cycles : 3). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664384 ms (missed cycles : 3).[0m ×2 + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 24.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325048 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325048 ms (missed cycles : 2).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.713ms + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812392 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812392 ms (missed cycles : 2).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820899 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820899 ms (missed cycles : 2).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375898 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375898 ms (missed cycles : 2).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.677ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477171 ms (missed cycles : 2). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477171 ms (missed cycles : 2).[0m ×2 + 29.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130164 ms (missed cycles : 2). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130164 ms (missed cycles : 2).[0m ×2 + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2). + 31.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2).[0m ×2 + 33.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461679.77305555 seconds ×3 + 33.28sWARNlocal_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. + 33.28sWARNlocal_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. + 33.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.087ms + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2).[0m ×2 + 33.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 33.68sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 33.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461680.33571005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.99sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 34.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2).[0m ×2 + 35.00sWARNglobal_costmap.global_costmapSensor origin at (-1.90, -3.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.00sWARNglobal_costmap.global_costmapSensor origin at (-1.64, -4.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2). + 35.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2).[0m ×2 + 36.00sWARNglobal_costmap.global_costmapSensor origin at (-1.93, -3.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.00sWARNglobal_costmap.global_costmapSensor origin at (-1.67, -4.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2). + 36.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2).[0m ×2 + 36.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.923ms + 37.00sWARNglobal_costmap.global_costmapSensor origin at (-2.12, -3.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 37.00sWARNglobal_costmap.global_costmapSensor origin at (-1.86, -4.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it.
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.6s	64 warnings · 243 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925795 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925795 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611270 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611270 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 2.05sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.05sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788461877.26957798 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145949 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145949 ms (missed cycles : 2).[0m ×2 + 2.11sWARNlocal_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. + 2.11sWARNlocal_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. + 2.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.284ms + 2.21sWARNlocal_costmap.local_costmapSensor origin at (-1.81, 8.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.21sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 8.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 2.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 2.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788461877.83301687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747598 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747598 ms (missed cycles : 2).[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175554 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175554 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156744 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156744 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026641 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026641 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759989 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759989 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997395 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997395 ms (missed cycles : 2).[0m ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 8.87sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.34sINFOobjective_server_nodeFound path in 33 iterations (0.0201941 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357537 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357537 ms (missed cycles : 2).[0m ×2 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.66sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274362 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274362 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674387 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674387 ms (missed cycles : 2).[0m ×2 + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899956 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899956 ms (missed cycles : 2).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.779ms + 13.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857364 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857364 ms (missed cycles : 2).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.342ms + 14.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.835ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2).[0m ×2 + 16.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461891.86431479 seconds ×3 + 16.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.417ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2).[0m ×2 + 17.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.21sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 17.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461892.46235299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.26sINFOmove_groupClearing octomap...[0m ×2 + 17.26sINFOmove_groupOctomap cleared.[0m ×2 + 17.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461892.79252219 seconds ×3 + 18.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 18.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461893.35611773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2).[0m ×2 + 18.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461893.75625706 seconds ×3 + 18.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2).[0m ×2 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 55 warnings · 161 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498987 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498987 ms (missed cycles : 3).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.628ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120330 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120330 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969867 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969867 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.630ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788461733.47585940 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sWARNlocal_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. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.091ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463346 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463346 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788461734.04669809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008380 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008380 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 4.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275853 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275853 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965945 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965945 ms (missed cycles : 2).[0m ×2 + 6.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.364ms + 7.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.240ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534817 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534817 ms (missed cycles : 2).[0m ×2 + 7.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.167ms + 8.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.443ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043761 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043761 ms (missed cycles : 2).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.766ms + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697938 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697938 ms (missed cycles : 2).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.267ms + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.714ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676908 ms (missed cycles : 2).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.844ms + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.720ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312751 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312751 ms (missed cycles : 2).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.940ms + 12.19sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 4.400ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175236 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175236 ms (missed cycles : 2).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 3.953ms + 13.19sINFOamclParticle filter update iteration stats: 2878 particles 723 points - 2.959ms + 13.53sINFOobjective_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 + 13.54sINFOjoint_trajectory_controllerGot request to cancel goal + 13.54sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.54sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.54sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.58sERRORobjective_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: 1788461744.37145782 seconds ×3 + 13.69sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 2.705ms + 13.72sWARNlocal_costmap.local_costmapSensor origin at (-0.79, 3.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.72sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 3.75) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819887 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819887 ms (missed cycles : 2).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.289ms + 14.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788461744.94031310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915549 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915549 ms (missed cycles : 2).[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654031 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654031 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820859 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820859 ms (missed cycles : 2).[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.6s	92 errors · 27 warnings · 469 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.835ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2).[0m ×2 + 1.96sINFOjoint_trajectory_controllerGoal reached, success! + 1.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461891.86431479 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.417ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.52sINFOobjective_server_nodecaller: ×4 + 2.52sINFOobjective_server_nodetype: 0 ×4 + 2.52sINFOobjective_server_nodename: "" ×4 + 2.52sINFOobjective_server_nodeinstance_id: "" ×4 + 2.52sINFOobjective_server_node ×4 + 2.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461892.46235299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_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 + 2.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461892.79252219 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461893.35611773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461893.75625706 seconds ×3 + 4.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937772 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937772 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718602 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718602 ms (missed cycles : 2).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916066 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916066 ms (missed cycles : 2).[0m ×2 + 9.49sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.49sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.50sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 9.51sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.51sERRORweb_video_auth_proxy-35process has died [pid 7696, 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 + 9.51sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.51sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.51sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.51sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 9.51sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORweb_bridge_auth_proxy-34process has died [pid 7668, 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 + 9.52sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.52sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 9.53sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 9.54sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 9.54sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 9.55sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 9.56sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 9.56sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 9.57sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 9.58sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 9.59sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 9.59sINFOvideo_server-33process has finished cleanly [pid 7667] ×2 + 9.60sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 9.60sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 9.61sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 9.61sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 9.62sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 9.63sINFOcontroller_managerShutdown request received.... + 9.63sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.63sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.63sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.63sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.63sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.63sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.63sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.63sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.63sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.63sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.63sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.63sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.63sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.63sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.63sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.63sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.63sINFOcontroller_managerShutting down the controller manager. + 9.63sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 9.64sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 9.65sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 9.66sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 9.66sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 9.67sERRORmove_group-21process has died [pid 7597, 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_mabujfx7 --params-file /tmp/launch_params_7frtdcuz --params-file /tmp/launch_params_piy28qxe --params-file /tmp/launch_params_halv9_4m --params-file /tmp/launch_params_cjszd49a --params-file /tmp/launch_params_8423fh7x']. ×2 + 9.67sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 9.68sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 9.68sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 9.68sINFOmap_serverDeactivating + 9.68sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 9.68sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 9.68sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 9.68sINFOcontroller_serverDeactivating + 9.68sINFOvideo_server2026/09/03 18:58:19 INF shutting down gracefully ×2 + 9.68sINFOlocal_costmap.local_costmapDeactivating + 9.68sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.69sINFOvideo_server2026/09/03 18:58:19 INF [WebRTC] closing ×2 + 9.69sINFOvideo_server2026/09/03 18:58:19 INF [RTSP] closing ×2 + 9.69sINFOvideo_server2026/09/03 18:58:19 INF waiting for running hooks ×2 + 9.69sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 9.69sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOmap_serverCleaning up + 9.69sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 9.69sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 9.69sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.69sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.69sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.69sERRORmove_groupStack trace (most recent call last) in thread 8242: ×2 + 9.69sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.69sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fa3a66a63, in __clone ×2 + 9.69sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fa39d9aa3, in ×2 + 9.69sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fa3c6bdb3, in ×2 + 9.69sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f6fa43d09e7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.69sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fa3ffd620, in rclcpp::Rate::sleep() ×2 + 9.69sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fa3f3fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.69sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6fa3f01087, in ×2 + 9.69sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fa3c3a390, in __cxa_throw ×2 + 9.69sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fa3c24a54, in std::terminate() ×2 + 9.69sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fa3c3a0d9, in ×2 + 9.69sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6fa3c24ff4, in ×2 + 9.69sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fa39658fe, in abort ×2 + 9.69sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fa398227d, in raise ×2 + 9.69sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6fa39dbb2c, in pthread_kill ×2 + 9.69sERRORmove_groupAborted (Signal sent by tkill() 7597 0) ×2 + 9.69sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.69sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.69sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.69sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.69sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.69sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 9.69sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.69sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 9.69sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.69sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.69sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.69sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.69sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.69sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.69sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.69sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.69sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.69sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 9.69sINFOodom_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 + 9.69sINFOodom_qos_relay.pymain() ×2 + 9.69sINFOodom_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 + 9.69sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 9.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 9.69sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 9.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 9.69sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 9.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 9.70sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 9.70sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 9.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 9.70sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 9.70sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 9.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 9.70sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 9.70sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 9.70sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 9.71sERRORamclThe bond connection to the lifecycle manager has been broken + 9.72sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 9.73sINFOcontroller_serverCleaning up + 9.73sINFOlocal_costmap.local_costmapCleaning up + 9.76sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 9.76sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 9.76sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 9.76sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 9.76sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 9.76sINFOvelocity_smootherDeactivating + 9.76sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 9.78sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 9.78sINFOsmoother_serverDeactivating + 9.78sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 9.79sINFOsmoother_serverCleaning up + 9.80sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 9.80sINFOplanner_serverDeactivating + 9.80sINFOglobal_costmap.global_costmapDeactivating + 9.84sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.84sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 9.84sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 9.87sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788461899.455 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 9.90sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 9.90sINFOwaypoint_followerDeactivating + 9.90sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.02sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.02sINFObt_navigatorDeactivating + 10.02sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.13sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.13sINFObehavior_serverDeactivating + 10.13sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.24sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.24sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.24sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 10.24sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.24sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.24sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.24sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.24sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.25sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.25sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.25sINFOvelocity_smootherCleaning up + 10.25sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.25sINFOwaypoint_followerCleaning up + 10.28sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.28sINFObt_navigatorCleaning up + 10.45sINFObt_navigatorCompleted Cleaning up + 10.45sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.45sINFObehavior_serverCleaning up + 10.51sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.51sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.51sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.51sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.51sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.51sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.51sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.59sINFOtf2_web_republisher_node-32process has finished cleanly [pid 7660] ×2 + 10.59sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 10.64sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 7634] ×2 + 10.64sINFOmove_joint_resampler_node-24process has finished cleanly [pid 7633] ×2 + 10.66sINFOexecute_objective_bridge-29process has finished cleanly [pid 7642] ×2 + 10.67sINFOui_teleop_bridge-30process has finished cleanly [pid 7643] ×2 + 10.67sINFOparameter_manager_node-22process has finished cleanly [pid 7598] ×2 + 10.68sINFOcomponent_container_mt-28process has finished cleanly [pid 7637] ×2 + 10.68sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7505] ×2 + 10.69sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 7504] ×2 + 10.70sINFOwaypoint_manager_node-23process has finished cleanly [pid 7599] ×2 + 10.70sINFOstatic_transform_publisher-4process has finished cleanly [pid 7501] ×2 + 10.71sINFOstatic_transform_publisher-3process has finished cleanly [pid 7500] ×2 + 10.74sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.74sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.74sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7503] ×2 + 10.75sERRORodom_qos_relay.py-5process has died [pid 7502, 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 + 10.75sINFOobjective_server_node[2026-09-03 18:58:20.630] [moveit_pro_license] [critical] ×2 + 10.75sINFOobjective_server_node************************************************* ×4 + 10.75sINFOobjective_server_node* MoveIt Pro License ×2 + 10.75sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.75sINFOplanner_serverCleaning up + 10.77sINFOglobal_costmap.global_costmapCleaning up + 10.78sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.78sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.81sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.81sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.81sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.81sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.81sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.81sINFOobjective_server_node_main-26process has finished cleanly [pid 7635] ×2 + 10.81sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.13sERRORcomponent_container_isolated-1process has died [pid 7498, 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_bag9qytm --params-file /tmp/launch_params_h3j6nrp7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.76sINFOcomponent_container_mt-27process has finished cleanly [pid 7636] ×2 + 12.01sERRORcomponent_container_isolated-2process has died [pid 7499, 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_bag9qytm --params-file /tmp/launch_params_olffps79 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.37sINFOros2_control_node-9process has finished cleanly [pid 7506] ×2 + 12.47sINFOweb_bridge-31process has finished cleanly [pid 7644] ×2 + 12.47sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.1s	43 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788461642.12222457 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.03sWARNlocal_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. + 2.03sWARNlocal_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. + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.127ms + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.49sINFOobjective_server_nodecaller: ×4 + 2.49sINFOobjective_server_nodetype: 0 ×4 + 2.49sINFOobjective_server_nodename: "" ×4 + 2.49sINFOobjective_server_nodeinstance_id: "" ×4 + 2.49sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788461642.69036484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 2.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 2.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 2.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 2.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736560 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736560 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675019 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675019 ms (missed cycles : 2).[0m ×2 + 8.04sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788461648.22046399 seconds ×3 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838583 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838583 ms (missed cycles : 2).[0m ×2 + 9.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.58sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 9.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788461649.78288674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497460 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497460 ms (missed cycles : 3).[0m ×2 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804743 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804743 ms (missed cycles : 2).[0m ×2 + 11.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851835 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851835 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208832 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208832 ms (missed cycles : 2).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	43 warnings · 140 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100317 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100317 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042845 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042845 ms (missed cycles : 3).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202076 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202076 ms (missed cycles : 2).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788461814.81046677 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.690ms + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-0.25, 3.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-1.15, 3.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173500 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173500 ms (missed cycles : 2).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.625ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788461815.37919164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748492 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748492 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231630 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231630 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 9.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 9.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.82sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 11.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	5.7s	36 warnings · 148 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788461580.30984020 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.324ms + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788461580.86857963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.0981e-05 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.08sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2).[0m ×2 + 5.25sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.225ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2).[0m ×2 + 5.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 6.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 7.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015041 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015041 ms (missed cycles : 2).[0m ×2 + 7.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 8.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788461586.05872059 seconds ×3 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300188 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300188 ms (missed cycles : 2).[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 1.457ms + 8.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.97sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788461586.62209010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.28sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036618 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036618 ms (missed cycles : 2).[0m ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111914 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111914 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956343 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956343 ms (missed cycles : 2).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.115ms
✓ passed	Take Scene Camera Snapshot	take_snap.xml	0.9s	21 warnings · 118 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857364 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857364 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.342ms + 0.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.835ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461891.86431479 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.417ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461892.46235299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461892.79252219 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461893.35611773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461893.75625706 seconds ×3 + 4.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498244 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498244 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788461580.30984020 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.324ms + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788461580.86857963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.0981e-05 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOjoint_trajectory_controllerReceived new action goal + 4.08sINFOjoint_trajectory_controllerAccepted new action goal + 4.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2).[0m ×2 + 5.25sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.225ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2).[0m ×2 + 5.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 6.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068474 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699001 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811405 ms (missed cycles : 2).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788461580.30984020 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.324ms + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788461580.86857963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067398 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.0981e-05 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOjoint_trajectory_controllerReceived new action goal + 4.08sINFOjoint_trajectory_controllerAccepted new action goal + 4.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352852 ms (missed cycles : 2).[0m ×2 + 5.25sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.225ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988959 ms (missed cycles : 2).[0m ×2 + 5.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 6.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 77 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758808 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.691ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015041 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015041 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788461586.05872059 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300188 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300188 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 1.457ms + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788461586.62209010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036618 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036618 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111914 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111914 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956343 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956343 ms (missed cycles : 2).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.115ms
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! + 1.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788461642.12222457 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sWARNlocal_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. + 2.03sWARNlocal_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. + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.127ms + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.49sINFOobjective_server_nodecaller: ×2 + 2.49sINFOobjective_server_nodetype: 0 ×2 + 2.49sINFOobjective_server_nodename: "" ×2 + 2.49sINFOobjective_server_nodeinstance_id: "" ×2 + 2.49sINFOobjective_server_node ×2 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788461642.69036484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 2.99sINFOjoint_trajectory_controllerReceived new action goal + 2.99sINFOjoint_trajectory_controllerAccepted new action goal + 2.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! + 1.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788461642.12222457 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sWARNlocal_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. + 2.03sWARNlocal_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. + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.127ms + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.49sINFOobjective_server_nodecaller: ×2 + 2.49sINFOobjective_server_nodetype: 0 ×2 + 2.49sINFOobjective_server_nodename: "" ×2 + 2.49sINFOobjective_server_nodeinstance_id: "" ×2 + 2.49sINFOobjective_server_node ×2 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788461642.69036484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 2.99sINFOjoint_trajectory_controllerReceived new action goal + 2.99sINFOjoint_trajectory_controllerAccepted new action goal + 2.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! + 1.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788461642.12222457 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sWARNlocal_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. + 2.03sWARNlocal_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. + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.127ms + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.49sINFOobjective_server_nodecaller: ×2 + 2.49sINFOobjective_server_nodetype: 0 ×2 + 2.49sINFOobjective_server_nodename: "" ×2 + 2.49sINFOobjective_server_nodeinstance_id: "" ×2 + 2.49sINFOobjective_server_node ×2 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788461642.69036484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 2.99sINFOjoint_trajectory_controllerReceived new action goal + 2.99sINFOjoint_trajectory_controllerAccepted new action goal + 2.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! + 1.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788461642.12222457 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sWARNlocal_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. + 2.03sWARNlocal_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. + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.127ms + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.49sINFOobjective_server_nodecaller: ×2 + 2.49sINFOobjective_server_nodetype: 0 ×2 + 2.49sINFOobjective_server_nodename: "" ×2 + 2.49sINFOobjective_server_nodeinstance_id: "" ×2 + 2.49sINFOobjective_server_node ×2 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788461642.69036484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 2.99sINFOjoint_trajectory_controllerReceived new action goal + 2.99sINFOjoint_trajectory_controllerAccepted new action goal + 2.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	22 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769258 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266444 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! + 1.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788461642.12222457 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sWARNlocal_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. + 2.03sWARNlocal_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. + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.127ms + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 3.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.13sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.289ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294111 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.49sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.49sINFOobjective_server_nodecaller: ×2 + 2.49sINFOobjective_server_nodetype: 0 ×2 + 2.49sINFOobjective_server_nodename: "" ×2 + 2.49sINFOobjective_server_nodeinstance_id: "" ×2 + 2.49sINFOobjective_server_node ×2 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788461642.69036484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 2.99sINFOjoint_trajectory_controllerReceived new action goal + 2.99sINFOjoint_trajectory_controllerAccepted new action goal + 2.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505261 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446413 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810185 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	26 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461679.77305555 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sWARNlocal_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. + 2.63sWARNlocal_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. + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.087ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461680.33571005 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 ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2).[0m ×2 + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.90, -3.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.64, -4.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2).[0m ×2 + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.93, -3.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.67, -4.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.923ms + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-2.12, -3.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-1.86, -4.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it.
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	26 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461679.77305555 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sWARNlocal_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. + 2.63sWARNlocal_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. + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.087ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461680.33571005 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 ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2).[0m ×2 + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.90, -3.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.64, -4.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2).[0m ×2 + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.93, -3.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.67, -4.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.923ms + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-2.12, -3.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-1.86, -4.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it.
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	26 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533986 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334389 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.50sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788461679.77305555 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sWARNlocal_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. + 2.63sWARNlocal_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. + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.087ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910628 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788461680.33571005 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 ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713223 ms (missed cycles : 2).[0m ×2 + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.90, -3.22) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.35sWARNglobal_costmap.global_costmapSensor origin at (-1.64, -4.08) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920110 ms (missed cycles : 2).[0m ×2 + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.93, -3.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.35sWARNglobal_costmap.global_costmapSensor origin at (-1.67, -4.10) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139017 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.923ms + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-2.12, -3.38) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 6.35sWARNglobal_costmap.global_costmapSensor origin at (-1.86, -4.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it.
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855012 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628674 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294464 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788461821.16932821 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788461821.73943472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698465 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943427 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151710 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206337 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 118 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857364 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857364 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.342ms + 0.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.835ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757846 ms (missed cycles : 2).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500918 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788461891.86431479 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.417ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793894 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461892.46235299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461892.79252219 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461893.35611773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461893.75625706 seconds ×3 + 4.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734746 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984522 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[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	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[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 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088176 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.25sINFOobjective_server_nodecaller: ×10 + 3.25sINFOobjective_server_nodetype: 0 ×10 + 3.25sINFOobjective_server_nodename: "" ×10 + 3.25sINFOobjective_server_nodeinstance_id: "" ×10 + 3.25sINFOobjective_server_node ×10 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.28sINFOmove_groupClearing octomap...[0m ×2 + 3.28sINFOmove_groupOctomap cleared.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 7.03sINFOjoint_trajectory_controllerReceived new action goal + 7.03sINFOjoint_trajectory_controllerAccepted new action goal + 7.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.03sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_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 2.088176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088176 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.25sINFOobjective_server_nodecaller: ×10 + 3.25sINFOobjective_server_nodetype: 0 ×10 + 3.25sINFOobjective_server_nodename: "" ×10 + 3.25sINFOobjective_server_nodeinstance_id: "" ×10 + 3.25sINFOobjective_server_node ×10 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.28sINFOmove_groupClearing octomap...[0m ×2 + 3.28sINFOmove_groupOctomap cleared.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.055819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055819 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498244 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498244 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	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705080 ms (missed cycles : 2).[0m ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461534.94617844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.74sINFOmove_groupClearing octomap...[0m ×2 + 0.74sINFOmove_groupOctomap cleared.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461534.95652747 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632607 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461535.52024436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461535.53036761 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461536.08942533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461536.24003148 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308260 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461536.81217623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_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 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461536.86232305 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849888 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788461537.42306852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201285 ms (missed cycles : 2).[0m ×2 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167034 ms (missed cycles : 2).[0m ×2