MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.4s	12 errors · 321 warnings · 1521 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/2026-09-04-02-15-32-905249-3af3e1218e96-7576 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.33sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.34sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.35sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.35sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 4.55sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.60sINFOcontroller_managerupdate rate is 600 Hz + 4.60sINFOcontroller_managerOverruns handling is : enabled + 4.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.60sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.60sINFOros2_control_node-12process started with pid [7718] ×2 + 4.60sINFOmove_group-24process started with pid [7747] ×2 + 4.60sINFOparameter_manager_node-25process started with pid [7781] ×2 + 4.60sINFOwaypoint_manager_node-26process started with pid [7782] ×2 + 4.60sINFOmove_joint_resampler_node-27process started with pid [7783] ×2 + 4.60sINFOmove_end_effector_resampler_node-28process started with pid [7784] ×2 + 4.60sINFOobjective_server_node_main-29process started with pid [7785] ×2 + 4.60sINFOcomponent_container_mt-30process started with pid [7786] ×2 + 4.60sINFOcomponent_container_mt-31process started with pid [7787] ×2 + 4.60sINFOexecute_objective_bridge-32process started with pid [7788] ×2 + 4.60sINFOui_teleop_bridge-33process started with pid [7789] ×2 + 4.60sINFOweb_bridge-34process started with pid [7790] ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098698 ms (missed cycles : 5). + 4.62sINFOtf2_web_republisher_node-35process started with pid [7791] ×2 + 4.62sINFOvideo_server-36process started with pid [7792] ×2 + 4.62sINFOweb_bridge_auth_proxy-37process started with pid [7793] ×2 + 4.62sINFOweb_video_auth_proxy-38process started with pid [7794] ×2 + 4.62sINFOcomponent_container_isolated-1process started with pid [7626] ×2 + 4.62sINFOcomponent_container_isolated-2process started with pid [7627] ×2 + 4.62sINFOstatic_transform_publisher-3process started with pid [7628] ×2 + 4.62sINFOstatic_transform_publisher-4process started with pid [7629] ×2 + 4.62sINFOodom_qos_relay.py-5process started with pid [7630] ×2 + 4.62sINFOforward_stereo_publisher.py-6process started with pid [7631] ×2 + 4.62sINFOlidar_flattener.py-7process started with pid [7632] ×2 + 4.62sINFOstatic_transform_publisher-8process started with pid [7633] ×2 + 4.62sINFOstatic_transform_publisher-9process started with pid [7634] ×2 + 4.62sINFOscan_to_scan_filter_chain-10process started with pid [7716] ×2 + 4.62sINFOscan_to_scan_filter_chain-11process started with pid [7717] ×2 + 4.62sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.62sINFOros2-13process started with pid [7719] ×2 + 4.62sINFOros2-14process started with pid [7720] ×2 + 4.62sINFOros2-15process started with pid [7721] ×2 + 4.62sINFOros2-16process started with pid [7722] ×2 + 4.63sINFOros2-17process started with pid [7725] ×2 + 4.63sINFOros2-18process started with pid [7728] ×2 + 4.63sINFOros2-19process started with pid [7729] ×2 + 4.63sINFOros2-20process started with pid [7734] ×2 + 4.63sINFOros2-21process started with pid [7735] ×2 + 4.63sINFOros2-22process started with pid [7736] ×2 + 4.63sINFOros2-23process started with pid [7745] ×2 + 4.65sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.65sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.65sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.65sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.66sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.66sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.66sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.66sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.66sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.66sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.66sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.66sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.66sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.66sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.66sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.66sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.66sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098698 ms (missed cycles : 5).[0m ×2 + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.68sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.70sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.80sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.81sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.81sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.81sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.81sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.81sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.81sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.81sINFOcontroller_serverCreating controller server + 4.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.86sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.87sINFOlocal_costmap.local_costmapCreating Costmap + 4.87sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.87sINFOmap_serverCreating + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.92sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.92sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.95sINFOrobot_state_publisherRobot initialized + 4.96sINFOcontroller_managerReceived robot description from topic. + 4.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.96sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.97sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.97sINFOsmoother_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. + 5.00sINFOsmoother_serverCreating smoother server + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.01sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.04sINFOplanner_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. + 5.06sINFOlifecycle_manager_localizationCreating + 5.07sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.07sINFOplanner_serverCreating + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.08sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.08sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.08sINFOmap_serverConfiguring + 5.10sINFOglobal_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. + 5.11sINFOglobal_costmap.global_costmapCreating Costmap + 5.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.17sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.18sINFObehavior_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. + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.23sINFOvideo_server2026/09/04 02:15:39 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.23sINFOvideo_server2026/09/04 02:15:39 INF configuration loaded from /tmp/moveit-webrtc-fhxl5wa7/mediamtx.yml ×2 + 5.23sINFOvideo_server2026/09/04 02:15:39 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.23sINFOvideo_server2026/09/04 02:15:39 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.25sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.26sINFObt_navigatorCreating + 5.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.30sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.30sINFOamclConfiguring + 5.31sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.31sINFOmap_serverActivating + 5.31sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.32sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.32sINFOwaypoint_followerCreating + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.38sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.42sINFOlifecycle_manager_navigationCreating + 5.42sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.42sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.42sINFOamclActivating + 5.42sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.42sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.43sINFOamclSubscribed to map_topic: /map + 5.43sINFOamclSubscribed to scan_topic: /scan_merged + 5.44sINFOamclCreated reinitialize_global_localization service + 5.44sINFOamclCreated request_nomotion_update service + 5.44sINFOamclA new map was received + 5.44sINFOamclInitializing particle filter instance + 5.44sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.45sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.45sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.45sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.48sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.48sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.48sINFOcontroller_serverConfiguring controller interface + 5.48sINFOcontroller_servergetting progress checker plugins.. + 5.48sINFOcontroller_servergetting goal checker plugins.. + 5.48sINFOcontroller_serverController frequency set to 20.0000Hz + 5.48sINFOlocal_costmap.local_costmapConfiguring + 5.50sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.51sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.444513 seconds + 5.51sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.52sINFOmove_groupLoaded robot model in 0.444513 seconds[0m ×2 + 5.52sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.52sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.52sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.53sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.55sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.55sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.59sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.59sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.59sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.60sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.60sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634504 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634504 ms (missed cycles : 3).[0m ×2 + 5.62sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.63sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.64sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.64sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.65sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.67sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.67sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.68sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.68sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.68sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.68sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.70sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.71sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.72sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.73sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.74sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.75sINFOcontroller_serverOptimizer reset ×2 + 5.77sINFOcontroller_serverController Server has FollowPath controllers available. + 5.81sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.81sINFOsmoother_serverConfiguring smoother server + 5.84sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.84sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.86sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.86sINFOplanner_serverConfiguring + 5.86sINFOglobal_costmap.global_costmapConfiguring + 5.88sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.88sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.88sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.90sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.90sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.90sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.91sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.99sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.99sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.99sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.05sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.05sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.05sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.07sINFOplanner_serverPlanner Server has GridBased planners available. + 6.10sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.10sINFObehavior_serverConfiguring + 6.12sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.13sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.13sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.14sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.14sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.15sINFObehavior_serverConfiguring spin + 6.17sINFObehavior_serverConfiguring backup + 6.18sINFObehavior_serverConfiguring drive_on_heading + 6.19sINFObehavior_serverConfiguring assisted_teleop + 6.20sINFObehavior_serverConfiguring wait + 6.21sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.21sINFObt_navigatorConfiguring + 6.23sINFOwaypoint_manager_nodeLoaded robot model in 0.419 seconds[0m ×2 + 6.23sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.23sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.24sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.27sWARNbt_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 + 6.38sINFOamclParticle filter initialization completed + 6.38sINFOamclInitializing particles from estimated pose and covariance + 6.39sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.40sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.40sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.40sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.40sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.42sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.42sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.42sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.43sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.43sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.43sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.43sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.44sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.44sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.46sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.49sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.51sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.51sINFOwaypoint_followerConfiguring + 6.54sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.54sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.54sINFOvelocity_smootherConfiguring velocity smoother + 6.55sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.55sINFOcontroller_serverActivating + 6.55sINFOlocal_costmap.local_costmapActivating + 6.55sINFOlocal_costmap.local_costmapChecking transform + 6.55sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×8 + 6.78sINFOmove_group[2026-09-04 02:15:41.467] [moveit_pro_license] [info] ×2 + 6.78sINFOmove_group************************************************* ×4 + 6.78sINFOmove_group* MoveIt Pro License ×2 + 6.78sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135793 ms (missed cycles : 2). + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135793 ms (missed cycles : 2).[0m ×2 + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_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 + 7.13sINFOwaypoint_manager_node[2026-09-04 02:15:41.818] [moveit_pro_license] [info] ×2 + 7.13sINFOwaypoint_manager_node************************************************* ×4 + 7.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.23sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.23sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.23sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.24sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.24sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.24sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.24sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.24sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.24sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.24sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.24sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.24sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.25sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.25sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.35sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.35sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.35sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.35sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.35sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.35sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.35sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.35sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.35sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.36sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.36sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.36sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.36sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.36sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.36sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.36sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.36sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.36sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.36sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.36sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.36sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.36sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.36sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.36sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.36sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 7.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 7.53sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.53sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.54sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.57sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.57sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.57sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.59sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.76sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.76sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.76sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112310 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112310 ms (missed cycles : 2).[0m ×2 + 8.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.12sINFOros2_control_node[2026-09-04 02:15:42.800] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.12sINFOros2_control_node[2026-09-04 02:15:42.803] [info] Controller state will be published at 10 Hz. ×2 + 8.12sINFOros2_control_node[2026-09-04 02:15:42.804] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.22sWARNcomponent_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 + 8.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 8.45sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 8.49sINFOros2-20process has finished cleanly [pid 7734] ×2 + 8.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.51sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.51sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.51sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.51sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.52sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.52sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.52sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.59sINFOcomponent_container_mtLoaded robot model in 0.380271 seconds[0m ×2 + 8.59sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.60sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.60sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.62sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.62sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.62sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.62sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.62sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.62sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.62sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.62sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.63sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.63sINFOstreaming_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) + 8.63sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.63sINFOcomponent_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 + 8.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.67sINFOobjective_server_node[2026-09-04 02:15:43.350] [moveit_pro_license] [info] ×2 + 8.67sINFOobjective_server_node************************************************* ×4 + 8.67sINFOobjective_server_node* MoveIt Pro License ×2 + 8.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.75sINFOobjective_server_nodeLoaded robot model in 0.0368422 seconds[0m ×2 + 8.75sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.75sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.84sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.84sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.84sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.84sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.84sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 8.84sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 8.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.87sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.87sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.87sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.90sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.90sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.91sINFOros2-14process has finished cleanly [pid 7720] ×2 + 8.91sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.91sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.91sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.91sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.91sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.91sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 8.91sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 8.92sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 8.92sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367619 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367619 ms (missed cycles : 2).[0m ×2 + 9.11sINFOmove_groupMoveGroup debug mode is ON + 9.11sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNplanning_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. + 9.20sWARNplanning_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. + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.21sWARNplanning_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. + 9.21sWARNplanning_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. + 9.21sWARNplanning_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. + 9.21sWARNplanning_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. + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNplanning_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. + 9.21sWARNplanning_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. + 9.21sWARNplanning_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. + 9.21sWARNplanning_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. + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.24sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.24sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.24sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.24sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.29sINFOros2-17process has finished cleanly [pid 7725] ×2 + 9.31sINFOmove_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 ****************************************************** + 9.31sINFOmove_group ×8 + 9.31sINFOmove_group****************************************************** ×4 + 9.31sINFOmove_group* MoveGroup using: ×2 + 9.31sINFOmove_group* - apply_planning_scene_service ×2 + 9.31sINFOmove_group* - clear_octomap_service ×2 + 9.31sINFOmove_group* - get_group_urdf ×2 + 9.31sINFOmove_group* - load_geometry_from_file ×2 + 9.31sINFOmove_group* - get_planning_scene_service ×2 + 9.31sINFOmove_group* - kinematics_service ×2 + 9.31sINFOmove_group* - save_geometry_to_file ×2 + 9.31sINFOmove_group* - GetPlanningGroups ×2 + 9.31sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.31sINFOmove_group[0m ×2 + 9.31sINFOmove_group[92mYou can start planning now![0m ×2 + 9.32sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.32sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.32sWARNobjective_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. + 9.32sWARNobjective_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 + 9.32sWARNobjective_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. + 9.32sWARNobjective_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 + 9.32sWARNobjective_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. + 9.32sWARNobjective_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 + 9.32sWARNobjective_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. + 9.32sWARNobjective_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 + 9.32sWARNobjective_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. + 9.32sWARNobjective_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. + 9.32sWARNobjective_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 + 9.32sWARNobjective_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. + 9.32sWARNobjective_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 + 9.32sWARNobjective_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. + 9.32sWARNobjective_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 + 9.32sWARNobjective_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 + 9.33sWARNobjective_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. + 9.33sWARNobjective_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 + 9.33sWARNobjective_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. + 9.33sWARNobjective_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 + 9.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 9.35sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 9.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.42sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.44sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.44sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.50sINFOcomponent_container_mt[2026-09-04 02:15:44.188] [moveit_pro_license] [info] ×2 + 9.50sINFOcomponent_container_mt************************************************* ×4 + 9.50sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.78sWARNros2_control_nodeCamera render tick took 1.21 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.79sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.79sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.82sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.82sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.82sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.82sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.83sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.83sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.95sINFOros2_control_node[2026-09-04 02:15:44.631] [info] Controller state will be published at 20 Hz. ×2 + 9.95sINFOros2_control_node[2026-09-04 02:15:44.632] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271830 ms (missed cycles : 3). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271830 ms (missed cycles : 3).[0m ×2 + 10.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 10.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 10.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.32sINFOros2-22process has finished cleanly [pid 7736] ×2 + 10.33sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.33sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.68 s); lidar_front (0.68 s); lidar_rear (0.68 s); wrist_camera (0.68 s). The render path has stopped producing new frames for them.[0m ×2 + 10.55sINFOlocal_costmap.local_costmapstart + 10.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 10.64sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 10.65sWARNcontroller_serverParameter controller_server.verbose not found + 10.66sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.71sINFOros2-15process has finished cleanly [pid 7721] ×2 + 10.74sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.74sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.74sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.74sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.74sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.75sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.75sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.75sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.75sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.77sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.77sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.77sINFOsmoother_serverActivating + 10.77sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.84sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788488143.265 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.88sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.88sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.88sINFOplanner_serverActivating + 10.88sINFOglobal_costmap.global_costmapActivating + 10.88sINFOglobal_costmap.global_costmapChecking transform + 10.88sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381992 ms (missed cycles : 4). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381992 ms (missed cycles : 4).[0m ×2 + 11.04sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.04sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.04sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.04sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.04sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 11.04sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 11.08sINFOros2-19process has finished cleanly [pid 7729] ×2 + 11.11sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.11sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.16sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 6.676ms + 11.38sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788488146.037577, but only time 1788488146.173406 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.65sINFOros2_control_node[2026-09-04 02:15:46.333] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.65sINFOros2_control_node[2026-09-04 02:15:46.335] [info] Controller state will be published at 10 Hz. ×2 + 11.65sINFOros2_control_node[2026-09-04 02:15:46.336] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.72sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.88sINFOglobal_costmap.global_costmapstart + 11.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 11.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 12.03sINFOros2-21process has finished cleanly [pid 7735] ×2 + 12.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.04sINFOforce_torque_sensor_broadcasterconfigure successful + 12.04sINFOros2_control_nodeconfigure successful[0m ×6 + 12.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784088 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784088 ms (missed cycles : 2).[0m ×2 + 12.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.37sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.38sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 12.38sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 12.41sINFOros2-13process has finished cleanly [pid 7719] ×2 + 12.45sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.45sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.46sINFOplatform_velocity_controller_nav2configure successful + 12.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 12.79sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 12.84sINFOros2-18process has finished cleanly [pid 7728] ×2 + 12.85sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.85sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.93sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.93sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.04sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.04sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.04sINFObehavior_serverActivating + 13.04sINFObehavior_serverActivating spin + 13.04sINFObehavior_serverActivating backup + 13.04sINFObehavior_serverActivating drive_on_heading + 13.04sINFObehavior_serverActivating assisted_teleop + 13.04sINFObehavior_serverActivating wait + 13.04sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480101 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480101 ms (missed cycles : 3).[0m ×2 + 13.14sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.14sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.14sINFObt_navigatorActivating + 13.23sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.34sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.34sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.34sINFOwaypoint_followerActivating + 13.34sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.39sINFOros2_control_node[2026-09-04 02:15:48.074] [info] Controller state will be published at 20 Hz. ×2 + 13.39sINFOros2_control_node[2026-09-04 02:15:48.075] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.45sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.45sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.45sINFOvelocity_smootherActivating + 13.45sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.55sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.55sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.55sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.70sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.70sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn + 13.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.70sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kn0p7wm1 --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_uow4k070 --params-file /tmp/launch_params_3dpzs1wn [0m ×2 + 13.76sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.77sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.77sINFOros2-23process has finished cleanly [pid 7745] ×2 + 13.78sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.78sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.78sINFOplatform_velocity_controllerconfigure successful + 13.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.79sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.79sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.12sINFOros2-16process has finished cleanly [pid 7722] ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459636 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459636 ms (missed cycles : 2).[0m ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267994 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267994 ms (missed cycles : 2).[0m ×2 + 15.34sWARNros2_control_nodeCamera render tick took 0.56 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 + 15.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 17.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 19.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.12sINFOobjective_server_nodecaller: ×10 + 19.12sINFOobjective_server_nodetype: 0 ×10 + 19.12sINFOobjective_server_nodename: "" ×10 + 19.12sINFOobjective_server_nodeinstance_id: "" ×10 + 19.12sINFOobjective_server_node ×10 + 19.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.16sINFOmove_groupClearing octomap...[0m ×2 + 19.16sINFOmove_groupOctomap cleared.[0m ×2 + 19.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 19.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 20.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.35sWARNros2_control_nodeCamera render tick took 0.55 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 + 20.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 21.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.10sINFOobjective_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 + 21.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 21.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 21.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 21.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	64.9s	3 errors · 281 warnings · 253 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.922ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817110 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817110 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.222ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736942 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736942 ms (missed cycles : 3).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 2.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658062 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658062 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_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 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.80sERRORobjective_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: 1788488366.14088655 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 4652 particles 723 points - 8.652ms + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788488366.71806598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.250ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708572 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708572 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817355 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817355 ms (missed cycles : 3).[0m ×2 + 4.66sWARNros2_control_nodeCamera render tick took 0.57 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 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640595 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640595 ms (missed cycles : 4).[0m ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.99sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.99sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546800 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546800 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203818 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203818 ms (missed cycles : 2).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.144ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495365 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495365 ms (missed cycles : 3).[0m ×2 + 9.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.372ms + 9.68sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.061ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126662 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126662 ms (missed cycles : 2).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.714ms + 10.92sINFOamclParticle filter update iteration stats: 3513 particles 723 points - 6.942ms + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415924 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415924 ms (missed cycles : 3).[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 5.104ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991820 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991820 ms (missed cycles : 3).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 2.644ms + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929826 ms (missed cycles : 5). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929826 ms (missed cycles : 5).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 13.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.784ms + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919574 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919574 ms (missed cycles : 3).[0m ×2 + 14.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 14.96sWARNros2_control_nodeCamera render tick took 0.56 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 + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591788 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591788 ms (missed cycles : 2).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684402 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684402 ms (missed cycles : 2).[0m ×2 + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918870 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918870 ms (missed cycles : 3).[0m ×2 + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664929 ms (missed cycles : 3). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664929 ms (missed cycles : 3).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.174ms + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532126 ms (missed cycles : 3). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532126 ms (missed cycles : 3).[0m ×2 + 19.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×6 + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 20.44sWARNros2_control_nodeCamera render tick took 0.59 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 ×8 + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101298 ms (missed cycles : 3). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101298 ms (missed cycles : 3).[0m ×2 + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 21.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134811 ms (missed cycles : 2). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134811 ms (missed cycles : 2).[0m ×2 + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296743 ms (missed cycles : 2). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296743 ms (missed cycles : 2).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 23.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908664 ms (missed cycles : 2). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908664 ms (missed cycles : 2).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061494 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061494 ms (missed cycles : 2).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 25.45sWARNros2_control_nodeCamera render tick took 0.63 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 + 25.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208338 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208338 ms (missed cycles : 2).[0m ×2 + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 26.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846614 ms (missed cycles : 2). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846614 ms (missed cycles : 2).[0m ×2 + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570052 ms (missed cycles : 4). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570052 ms (missed cycles : 4).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 28.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695342 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695342 ms (missed cycles : 3).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259380 ms (missed cycles : 2). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259380 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.598ms + 30.98sWARNros2_control_nodeCamera render tick took 0.60 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 ×8 + 31.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×10 + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445042 ms (missed cycles : 4). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445042 ms (missed cycles : 4).[0m ×2 + 31.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.709ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986502 ms (missed cycles : 2). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986502 ms (missed cycles : 2).[0m ×2 + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 32.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821005 ms (missed cycles : 3). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821005 ms (missed cycles : 3).[0m ×2 + 34.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 34.37sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.37sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558706 ms (missed cycles : 4). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558706 ms (missed cycles : 4).[0m ×2 + 35.02sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571138 ms (missed cycles : 3). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571138 ms (missed cycles : 3).[0m ×2 + 36.05sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.07sWARNros2_control_nodeCamera render tick took 0.61 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 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124927 ms (missed cycles : 3). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124927 ms (missed cycles : 3).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902675 ms (missed cycles : 2). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902675 ms (missed cycles : 2).[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322789 ms (missed cycles : 2). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322789 ms (missed cycles : 2).[0m ×2 + 39.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283350 ms (missed cycles : 2). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283350 ms (missed cycles : 2).[0m ×2 + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.865ms + 40.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.158ms + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953648 ms (missed cycles : 3). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953648 ms (missed cycles : 3).[0m ×2 + 41.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 41.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117312 ms (missed cycles : 4). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117312 ms (missed cycles : 4).[0m ×2 + 42.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525066 ms (missed cycles : 2). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525066 ms (missed cycles : 2).[0m ×2 + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676167 ms (missed cycles : 5). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676167 ms (missed cycles : 5).[0m ×2 + 44.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.933ms + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736524 ms (missed cycles : 3). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736524 ms (missed cycles : 3).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176140 ms (missed cycles : 3). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176140 ms (missed cycles : 3).[0m ×2 + 46.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743378 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743378 ms (missed cycles : 3).[0m ×2 + 48.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930833 ms (missed cycles : 3). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930833 ms (missed cycles : 3).[0m ×2 + 48.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323945 ms (missed cycles : 2). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323945 ms (missed cycles : 2).[0m ×2 + 49.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.819ms + 49.96sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 50.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945824 ms (missed cycles : 3). + 50.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945824 ms (missed cycles : 3).[0m ×2 + 51.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350356 ms (missed cycles : 3). + 51.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350356 ms (missed cycles : 3).[0m ×2 + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100108 ms (missed cycles : 4). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100108 ms (missed cycles : 4).[0m ×2 + 53.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022317 ms (missed cycles : 2). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022317 ms (missed cycles : 2).[0m ×2 + 54.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461585 ms (missed cycles : 2). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461585 ms (missed cycles : 2).[0m ×2 + 54.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 55.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327462 ms (missed cycles : 5). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327462 ms (missed cycles : 5).[0m ×2 + 56.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 56.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938396 ms (missed cycles : 4). + 56.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938396 ms (missed cycles : 4).[0m ×2 + 58.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329958 ms (missed cycles : 5). + 58.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329958 ms (missed cycles : 5).[0m ×2 + 58.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 58.81sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730596 ms (missed cycles : 5). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730596 ms (missed cycles : 5).[0m ×2 + 60.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319034 ms (missed cycles : 2). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319034 ms (missed cycles : 2).[0m ×2 + 61.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579223 ms (missed cycles : 3). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579223 ms (missed cycles : 3).[0m ×2 + 62.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186382 ms (missed cycles : 2). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186382 ms (missed cycles : 2).[0m ×2 + 63.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863962 ms (missed cycles : 4). + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.863962 ms (missed cycles : 4).[0m ×2 + 63.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 64.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795634 ms (missed cycles : 2). + 64.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795634 ms (missed cycles : 2).[0m ×2 + 65.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758671 ms (missed cycles : 5). + 65.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758671 ms (missed cycles : 5).[0m ×2 + 65.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 66.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 66.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496506 ms (missed cycles : 5). + 66.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496506 ms (missed cycles : 5).[0m ×2 + 67.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 67.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151953 ms (missed cycles : 5). + 67.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151953 ms (missed cycles : 5).[0m ×2 + 67.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788488431.08822179 seconds ×3 + 67.80sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 67.80sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.00sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.00sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.28sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788488431.65991545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237242 ms (missed cycles : 2). + 68.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237242 ms (missed cycles : 2).[0m ×2 + 68.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.864ms + 69.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740009 ms (missed cycles : 2). + 69.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740009 ms (missed cycles : 2).[0m ×2 + 70.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951347 ms (missed cycles : 2). + 70.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951347 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	243 warnings · 206 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927002 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927002 ms (missed cycles : 4).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946193 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946193 ms (missed cycles : 3).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 2.57sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.57sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788488205.64991426 seconds ×3 + 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 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745870 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745870 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788488206.22711492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sWARNros2_control_nodeCamera render tick took 0.57 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 ×4 + 3.53sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.974ms + 3.59sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170696 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170696 ms (missed cycles : 3).[0m ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067289 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067289 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.87sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279534 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279534 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722300 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722300 ms (missed cycles : 3).[0m ×2 + 8.12sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.610ms + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269822 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269822 ms (missed cycles : 2).[0m ×2 + 8.65sWARNros2_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 + 9.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018196 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018196 ms (missed cycles : 3).[0m ×2 + 9.25sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 3.715ms + 9.82sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.987ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126617 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126617 ms (missed cycles : 3).[0m ×2 + 10.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 10.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701990 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701990 ms (missed cycles : 3).[0m ×2 + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196854 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196854 ms (missed cycles : 3).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 13.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179323 ms (missed cycles : 3). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179323 ms (missed cycles : 3).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.915ms + 14.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 14.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711655 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711655 ms (missed cycles : 3).[0m ×2 + 15.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571480 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571480 ms (missed cycles : 2).[0m ×2 + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019639 ms (missed cycles : 5). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019639 ms (missed cycles : 5).[0m ×2 + 16.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977003 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977003 ms (missed cycles : 2).[0m ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930865 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930865 ms (missed cycles : 3).[0m ×2 + 19.39sWARNros2_control_nodeCamera render tick took 0.59 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 ×6 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806175 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806175 ms (missed cycles : 2).[0m ×2 + 20.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.226ms + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843888 ms (missed cycles : 5). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843888 ms (missed cycles : 5).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135911 ms (missed cycles : 2). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135911 ms (missed cycles : 2).[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.379ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580446 ms (missed cycles : 3). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580446 ms (missed cycles : 3).[0m ×2 + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151427 ms (missed cycles : 3). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151427 ms (missed cycles : 3).[0m ×2 + 24.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633676 ms (missed cycles : 4). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633676 ms (missed cycles : 4).[0m ×2 + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.471ms + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686632 ms (missed cycles : 4). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686632 ms (missed cycles : 4).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885633 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885633 ms (missed cycles : 2).[0m ×2 + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081150 ms (missed cycles : 3). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081150 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861118 ms (missed cycles : 3). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861118 ms (missed cycles : 3).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 30.41sWARNros2_control_nodeCamera render tick took 0.60 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 ×6 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.870ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125243 ms (missed cycles : 2). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125243 ms (missed cycles : 2).[0m ×2 + 31.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481940 ms (missed cycles : 3). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481940 ms (missed cycles : 3).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.133ms + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389939 ms (missed cycles : 3). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389939 ms (missed cycles : 3).[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559051 ms (missed cycles : 3). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559051 ms (missed cycles : 3).[0m ×2 + 34.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.644ms + 34.28sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751326 ms (missed cycles : 2). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751326 ms (missed cycles : 2).[0m ×2 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447897 ms (missed cycles : 2). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447897 ms (missed cycles : 2).[0m ×2 + 36.04sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 36.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335007 ms (missed cycles : 2). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335007 ms (missed cycles : 2).[0m ×2 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508067 ms (missed cycles : 3). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508067 ms (missed cycles : 3).[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084879 ms (missed cycles : 2). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084879 ms (missed cycles : 2).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710717 ms (missed cycles : 2). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710717 ms (missed cycles : 2).[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706353 ms (missed cycles : 3). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706353 ms (missed cycles : 3).[0m ×2 + 41.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 41.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561161 ms (missed cycles : 4). + 41.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561161 ms (missed cycles : 4).[0m ×2 + 43.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147691 ms (missed cycles : 4). + 43.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147691 ms (missed cycles : 4).[0m ×2 + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411159 ms (missed cycles : 4). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411159 ms (missed cycles : 4).[0m ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502323 ms (missed cycles : 5). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502323 ms (missed cycles : 5).[0m ×2 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798980 ms (missed cycles : 5). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798980 ms (missed cycles : 5).[0m ×2 + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778580 ms (missed cycles : 2). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778580 ms (missed cycles : 2).[0m ×2 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385528 ms (missed cycles : 5). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.385528 ms (missed cycles : 5).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 49.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362898 ms (missed cycles : 2). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362898 ms (missed cycles : 2).[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260455 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260455 ms (missed cycles : 2).[0m ×2 + 51.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.615ms + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433861 ms (missed cycles : 3). + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433861 ms (missed cycles : 3).[0m ×2 + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930872 ms (missed cycles : 3). + 53.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930872 ms (missed cycles : 3).[0m ×2 + 54.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335904 ms (missed cycles : 4). + 54.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335904 ms (missed cycles : 4).[0m ×2 + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700109 ms (missed cycles : 3). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700109 ms (missed cycles : 3).[0m ×2 + 55.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 56.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390058 ms (missed cycles : 3). + 56.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390058 ms (missed cycles : 3).[0m ×2 + 57.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3). + 57.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3).[0m ×2 + 58.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4). + 58.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4).[0m ×2 + 59.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4).[0m ×2 + 59.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788488263.04726195 seconds ×3 + 60.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.38sWARNlocal_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. ×6 + 60.38sWARNlocal_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. ×6 + 60.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788488263.65243411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.563ms + 60.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4). + 60.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4).[0m ×2 + 60.96sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 61.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2). + 61.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2).[0m ×2 + 63.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3). + 63.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3).[0m ×2 + 63.12sWARNros2_control_nodeCamera render tick took 0.55 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 + 63.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	254 warnings · 199 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.43sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 ×4 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895262 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895262 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163644 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163644 ms (missed cycles : 3).[0m ×2 + 7.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.271ms + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816995 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816995 ms (missed cycles : 3).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.516ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.262857 ms (missed cycles : 4). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.262857 ms (missed cycles : 4).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.341ms + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.722ms + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515510 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515510 ms (missed cycles : 2).[0m ×2 + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.376ms + 11.27sWARNros2_control_nodeCamera render tick took 0.59 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 ×6 + 11.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×8 + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.534ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740102 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740102 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.489ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312924 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312924 ms (missed cycles : 2).[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 13.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.720ms + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034126 ms (missed cycles : 4). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034126 ms (missed cycles : 4).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.689ms + 14.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.359ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864655 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864655 ms (missed cycles : 2).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 4497 particles 723 points - 8.449ms + 15.59sINFOamclParticle filter update iteration stats: 3388 particles 723 points - 7.484ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967407 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967407 ms (missed cycles : 2).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 5.250ms + 16.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 16.81sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 4.156ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286172 ms (missed cycles : 4). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286172 ms (missed cycles : 4).[0m ×2 + 17.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.44sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 3.025ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116955 ms (missed cycles : 2). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116955 ms (missed cycles : 2).[0m ×2 + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 18.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276500 ms (missed cycles : 4). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276500 ms (missed cycles : 4).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.074ms ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms ×2 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008862 ms (missed cycles : 3). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008862 ms (missed cycles : 3).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375489 ms (missed cycles : 4). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375489 ms (missed cycles : 4).[0m ×2 + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261418 ms (missed cycles : 5). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.261418 ms (missed cycles : 5).[0m ×2 + 22.35sWARNros2_control_nodeCamera render tick took 0.58 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 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428313 ms (missed cycles : 3). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428313 ms (missed cycles : 3).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866208 ms (missed cycles : 3). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866208 ms (missed cycles : 3).[0m ×2 + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.464ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808957 ms (missed cycles : 3). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808957 ms (missed cycles : 3).[0m ×2 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266923 ms (missed cycles : 3). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266923 ms (missed cycles : 3).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 27.36sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 27.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003102 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003102 ms (missed cycles : 2).[0m ×2 + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752332 ms (missed cycles : 4). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752332 ms (missed cycles : 4).[0m ×2 + 28.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232900 ms (missed cycles : 3). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232900 ms (missed cycles : 3).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208454 ms (missed cycles : 3). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208454 ms (missed cycles : 3).[0m ×2 + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.073ms + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283428 ms (missed cycles : 5). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283428 ms (missed cycles : 5).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 32.39sWARNros2_control_nodeCamera render tick took 0.61 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 ×4 + 32.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×6 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.675ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325708 ms (missed cycles : 3). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325708 ms (missed cycles : 3).[0m ×2 + 33.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165044 ms (missed cycles : 3). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165044 ms (missed cycles : 3).[0m ×2 + 34.15sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735691 ms (missed cycles : 2). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735691 ms (missed cycles : 2).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203071 ms (missed cycles : 4). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203071 ms (missed cycles : 4).[0m ×2 + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875496 ms (missed cycles : 4). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875496 ms (missed cycles : 4).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716979 ms (missed cycles : 2). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716979 ms (missed cycles : 2).[0m ×2 + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321316 ms (missed cycles : 3). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321316 ms (missed cycles : 3).[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808229 ms (missed cycles : 3). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808229 ms (missed cycles : 3).[0m ×2 + 41.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738406 ms (missed cycles : 3). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738406 ms (missed cycles : 3).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920785 ms (missed cycles : 3). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920785 ms (missed cycles : 3).[0m ×2 + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150354 ms (missed cycles : 2). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150354 ms (missed cycles : 2).[0m ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703043 ms (missed cycles : 3). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703043 ms (missed cycles : 3).[0m ×2 + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337447 ms (missed cycles : 5). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337447 ms (missed cycles : 5).[0m ×2 + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304417 ms (missed cycles : 2). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304417 ms (missed cycles : 2).[0m ×2 + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548055 ms (missed cycles : 5). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548055 ms (missed cycles : 5).[0m ×2 + 47.64sWARNros2_control_nodeCamera render tick took 0.60 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 ×6 + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473804 ms (missed cycles : 3). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473804 ms (missed cycles : 3).[0m ×2 + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129210 ms (missed cycles : 4). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129210 ms (missed cycles : 4).[0m ×2 + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961062 ms (missed cycles : 4). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961062 ms (missed cycles : 4).[0m ×2 + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560119 ms (missed cycles : 5). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560119 ms (missed cycles : 5).[0m ×2 + 52.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 53.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309765 ms (missed cycles : 5). + 53.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309765 ms (missed cycles : 5).[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631587 ms (missed cycles : 4). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631587 ms (missed cycles : 4).[0m ×2 + 55.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430029 ms (missed cycles : 2). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430029 ms (missed cycles : 2).[0m ×2 + 55.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024745 ms (missed cycles : 3). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024745 ms (missed cycles : 3).[0m ×2 + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155354 ms (missed cycles : 5). + 57.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155354 ms (missed cycles : 5).[0m ×2 + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267209 ms (missed cycles : 3). + 58.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267209 ms (missed cycles : 3).[0m ×2 + 59.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061654 ms (missed cycles : 2). + 59.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061654 ms (missed cycles : 2).[0m ×2 + 59.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788488494.81196356 seconds ×3 + 59.88sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 59.88sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.29sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788488495.39791226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.38sWARNlocal_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. ×6 + 60.38sWARNlocal_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. ×6 + 60.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996320 ms (missed cycles : 5). + 60.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996320 ms (missed cycles : 5).[0m ×2 + 60.72sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 60.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.352ms + 61.04sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016413 ms (missed cycles : 3). + 61.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016413 ms (missed cycles : 3).[0m ×2 + 62.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511286 ms (missed cycles : 3). + 62.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511286 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.3s	256 warnings · 220 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.695ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 3.16sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788488302.08316731 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788488302.66295552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sWARNlocal_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. ×6 + 3.82sWARNlocal_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. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.37sWARNros2_control_nodeCamera render tick took 0.59 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 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.209ms + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.57sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.57sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.57sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445391 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445391 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197090 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197090 ms (missed cycles : 2).[0m ×2 + 9.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.011ms + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705309 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705309 ms (missed cycles : 2).[0m ×2 + 9.57sWARNros2_control_nodeCamera render tick took 0.55 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 ×4 + 9.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.435ms + 10.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.437ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447221 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447221 ms (missed cycles : 3).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.782ms + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299233 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299233 ms (missed cycles : 2).[0m ×2 + 11.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.830ms + 11.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963744 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963744 ms (missed cycles : 2).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.647ms + 13.12sINFOamclParticle filter update iteration stats: 3804 particles 723 points - 7.377ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641313 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641313 ms (missed cycles : 4).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 4.864ms + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.440ms + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766329 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766329 ms (missed cycles : 2).[0m ×2 + 14.88sWARNros2_control_nodeCamera render tick took 0.61 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 ×8 + 14.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×6 + 14.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922498 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922498 ms (missed cycles : 2).[0m ×2 + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.121ms + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859092 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859092 ms (missed cycles : 3).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964938 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964938 ms (missed cycles : 2).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855794 ms (missed cycles : 3). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855794 ms (missed cycles : 3).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091963 ms (missed cycles : 3). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091963 ms (missed cycles : 3).[0m ×2 + 20.32sWARNros2_control_nodeCamera render tick took 0.57 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 ×6 + 20.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 20.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866563 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866563 ms (missed cycles : 2).[0m ×2 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974381 ms (missed cycles : 2). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974381 ms (missed cycles : 2).[0m ×2 + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119307 ms (missed cycles : 3). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119307 ms (missed cycles : 3).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746116 ms (missed cycles : 3). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746116 ms (missed cycles : 3).[0m ×2 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868910 ms (missed cycles : 3). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868910 ms (missed cycles : 3).[0m ×2 + 25.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.740ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102356 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102356 ms (missed cycles : 2).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306531 ms (missed cycles : 2). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306531 ms (missed cycles : 2).[0m ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.097ms + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.549ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053906 ms (missed cycles : 3). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053906 ms (missed cycles : 3).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms ×2 + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123443 ms (missed cycles : 3). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123443 ms (missed cycles : 3).[0m ×2 + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628006 ms (missed cycles : 3). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628006 ms (missed cycles : 3).[0m ×2 + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205977 ms (missed cycles : 3). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205977 ms (missed cycles : 3).[0m ×2 + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053775 ms (missed cycles : 3). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053775 ms (missed cycles : 3).[0m ×2 + 33.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400483 ms (missed cycles : 3). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400483 ms (missed cycles : 3).[0m ×2 + 34.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625841 ms (missed cycles : 3). + 34.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625841 ms (missed cycles : 3).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538257 ms (missed cycles : 4). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538257 ms (missed cycles : 4).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281852 ms (missed cycles : 2). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281852 ms (missed cycles : 2).[0m ×2 + 37.06sWARNros2_control_nodeCamera render tick took 0.60 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 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920763 ms (missed cycles : 3). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920763 ms (missed cycles : 3).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761660 ms (missed cycles : 3). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761660 ms (missed cycles : 3).[0m ×2 + 39.17sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 39.95sINFOobjective_server_nodePlanning for 23 path waypoints. ×3 + 40.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981909 ms (missed cycles : 2). + 40.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981909 ms (missed cycles : 2).[0m ×2 + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700414 ms (missed cycles : 3). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700414 ms (missed cycles : 3).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612075 ms (missed cycles : 5). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612075 ms (missed cycles : 5).[0m ×2 + 42.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697793 ms (missed cycles : 3). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697793 ms (missed cycles : 3).[0m ×2 + 43.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 44.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.128ms + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895640 ms (missed cycles : 3). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895640 ms (missed cycles : 3).[0m ×2 + 44.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 45.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969223 ms (missed cycles : 3). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969223 ms (missed cycles : 3).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595806 ms (missed cycles : 2). + 46.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595806 ms (missed cycles : 2).[0m ×2 + 47.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142558 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142558 ms (missed cycles : 2).[0m ×2 + 48.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708355 ms (missed cycles : 3). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708355 ms (missed cycles : 3).[0m ×2 + 49.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 49.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775946 ms (missed cycles : 2). + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775946 ms (missed cycles : 2).[0m ×2 + 49.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 50.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.930ms + 50.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362797 ms (missed cycles : 6).[0m ×2 + 50.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 51.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 51.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906473 ms (missed cycles : 2). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906473 ms (missed cycles : 2).[0m ×2 + 52.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238521 ms (missed cycles : 2). + 52.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238521 ms (missed cycles : 2).[0m ×2 + 53.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654106 ms (missed cycles : 3). + 53.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654106 ms (missed cycles : 3).[0m ×2 + 54.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022988 ms (missed cycles : 2). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022988 ms (missed cycles : 2).[0m ×2 + 55.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101872 ms (missed cycles : 2). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101872 ms (missed cycles : 2).[0m ×2 + 56.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788488355.35309625 seconds ×3 + 56.52sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.52sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 57.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.287ms + 57.01sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788488355.93089581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 57.02sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 4.44) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 57.02sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 4.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 57.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100710 ms (missed cycles : 2). + 57.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100710 ms (missed cycles : 2).[0m ×2 + 57.44sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 57.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.024ms + 58.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 58.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616014 ms (missed cycles : 3). + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616014 ms (missed cycles : 3).[0m ×2 + 59.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508873 ms (missed cycles : 2). + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508873 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	181 warnings · 380 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.61sINFOobjective_server_nodecaller: ×12 + 0.61sINFOobjective_server_nodetype: 0 ×12 + 0.61sINFOobjective_server_nodename: "" ×12 + 0.61sINFOobjective_server_nodeinstance_id: "" ×12 + 0.61sINFOobjective_server_node ×12 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.65sINFOmove_groupClearing octomap...[0m ×2 + 0.65sINFOmove_groupOctomap cleared.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sWARNros2_control_nodeCamera render tick took 0.55 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 ×6 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_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 + 2.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168975 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168975 ms (missed cycles : 3).[0m ×2 + 6.94sWARNros2_control_nodeCamera render tick took 0.56 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 ×6 + 7.53sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 2.987ms + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206521 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206521 ms (missed cycles : 2).[0m ×2 + 8.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602387 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602387 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058052 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058052 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704069 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704069 ms (missed cycles : 2).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504621 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504621 ms (missed cycles : 2).[0m ×2 + 12.01sWARNros2_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 ×8 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143719 ms (missed cycles : 4). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143719 ms (missed cycles : 4).[0m ×2 + 13.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×10 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896043 ms (missed cycles : 5). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896043 ms (missed cycles : 5).[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608881 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608881 ms (missed cycles : 3).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330895 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330895 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635302 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635302 ms (missed cycles : 3).[0m ×2 + 18.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564908 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564908 ms (missed cycles : 2).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303565 ms (missed cycles : 4). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303565 ms (missed cycles : 4).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285901 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285901 ms (missed cycles : 2).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154828 ms (missed cycles : 2). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154828 ms (missed cycles : 2).[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581351 ms (missed cycles : 4). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581351 ms (missed cycles : 4).[0m ×2 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773089 ms (missed cycles : 4). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773089 ms (missed cycles : 4).[0m ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343939 ms (missed cycles : 3). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343939 ms (missed cycles : 3).[0m ×2 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739543 ms (missed cycles : 2). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739543 ms (missed cycles : 2).[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564240 ms (missed cycles : 3). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564240 ms (missed cycles : 3).[0m ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073676 ms (missed cycles : 4). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073676 ms (missed cycles : 4).[0m ×2 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663301 ms (missed cycles : 3). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663301 ms (missed cycles : 3).[0m ×2 + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635600 ms (missed cycles : 3). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635600 ms (missed cycles : 3).[0m ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.359928 ms (missed cycles : 5). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.359928 ms (missed cycles : 5).[0m ×2 + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523732 ms (missed cycles : 3). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523732 ms (missed cycles : 3).[0m ×2 + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828129 ms (missed cycles : 3). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828129 ms (missed cycles : 3).[0m ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402275 ms (missed cycles : 2). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402275 ms (missed cycles : 2).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152638 ms (missed cycles : 2). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152638 ms (missed cycles : 2).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068006 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068006 ms (missed cycles : 3).[0m ×2 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836885 ms (missed cycles : 2). + 37.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836885 ms (missed cycles : 2).[0m ×2 + 38.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860616 ms (missed cycles : 2). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860616 ms (missed cycles : 2).[0m ×2 + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864620 ms (missed cycles : 3). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864620 ms (missed cycles : 3).[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972386 ms (missed cycles : 3). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972386 ms (missed cycles : 3).[0m ×2 + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370924 ms (missed cycles : 2). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370924 ms (missed cycles : 2).[0m ×2 + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017151 ms (missed cycles : 4). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017151 ms (missed cycles : 4).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3).[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2).[0m ×2 + 46.29sINFOjoint_trajectory_controllerGoal reached, success! + 46.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788488199.52111173 seconds ×3 + 46.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.86sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788488200.09977078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3).[0m ×2 + 48.01sINFOobjective_server_nodeFound path in 0 iterations (2.6033e-05 s). ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3).[0m ×2 + 48.07sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3).[0m ×2 + 49.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	158 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814150 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814150 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319274 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319274 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338208 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338208 ms (missed cycles : 3).[0m ×2 + 2.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788488269.42257237 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071550 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071550 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788488271.00304079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNros2_control_nodeCamera render tick took 0.53 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 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555656 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555656 ms (missed cycles : 3).[0m ×2 + 5.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823553 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823553 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685277 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685277 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162402 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162402 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767854 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767854 ms (missed cycles : 2).[0m ×2 + 8.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.629ms + 9.27sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459716 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459716 ms (missed cycles : 3).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.397ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.142ms + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286009 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286009 ms (missed cycles : 3).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.902ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584662 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584662 ms (missed cycles : 3).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.227ms + 12.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.109ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806725 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806725 ms (missed cycles : 2).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.586ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.974ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900021 ms (missed cycles : 5). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900021 ms (missed cycles : 5).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.767ms + 14.55sWARNros2_control_nodeCamera render tick took 0.58 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 ×4 + 14.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.860ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189156 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189156 ms (missed cycles : 3).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 15.81sINFOamclParticle filter update iteration stats: 4363 particles 723 points - 7.765ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752515 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752515 ms (missed cycles : 2).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 2753 particles 723 points - 7.410ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743562 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743562 ms (missed cycles : 2).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 4.604ms + 17.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.036ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913322 ms (missed cycles : 3). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913322 ms (missed cycles : 3).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540628 ms (missed cycles : 3). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540628 ms (missed cycles : 3).[0m ×2 + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 20.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967641 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967641 ms (missed cycles : 2).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479982 ms (missed cycles : 4). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479982 ms (missed cycles : 4).[0m ×2 + 21.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653073 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653073 ms (missed cycles : 2).[0m ×2 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526867 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526867 ms (missed cycles : 3).[0m ×2 + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836778 ms (missed cycles : 3). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836778 ms (missed cycles : 3).[0m ×2 + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755381 ms (missed cycles : 2). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755381 ms (missed cycles : 2).[0m ×2 + 25.59sWARNros2_control_nodeCamera render tick took 0.57 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 + 25.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711233 ms (missed cycles : 5). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711233 ms (missed cycles : 5).[0m ×2 + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.568ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979995 ms (missed cycles : 4). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979995 ms (missed cycles : 4).[0m ×2 + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783151 ms (missed cycles : 2). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783151 ms (missed cycles : 2).[0m ×2 + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893647 ms (missed cycles : 3). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893647 ms (missed cycles : 3).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 31.06sWARNros2_control_nodeCamera render tick took 0.59 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 ×4 + 31.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808177 ms (missed cycles : 3). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808177 ms (missed cycles : 3).[0m ×2 + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2).[0m ×2 + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.695ms + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3).[0m ×2 + 33.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3).[0m ×2 + 34.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 34.88sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788488302.08316731 seconds ×3 + 35.03sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.03sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2).[0m ×2 + 35.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788488302.66295552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.53sWARNlocal_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. ×6 + 35.53sWARNlocal_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. ×6 + 35.85sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 36.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.209ms + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3).[0m ×2 + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2). + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	105 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155354 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155354 ms (missed cycles : 5).[0m ×2 + 0.19sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267209 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267209 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061654 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061654 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788488494.81196356 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.34sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.75sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.75sINFOobjective_server_nodecaller: ×6 + 2.75sINFOobjective_server_nodetype: 0 ×6 + 2.75sINFOobjective_server_nodename: "" ×6 + 2.75sINFOobjective_server_nodeinstance_id: "" ×6 + 2.75sINFOobjective_server_node ×6 + 2.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788488495.39791226 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.84sWARNlocal_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. ×6 + 2.84sWARNlocal_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. ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996320 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996320 ms (missed cycles : 5).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 3.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.352ms + 3.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×4 + 3.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016413 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016413 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511286 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511286 ms (missed cycles : 3).[0m ×2 + 5.55sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362721 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362721 ms (missed cycles : 3).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962569 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962569 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916369 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916369 ms (missed cycles : 2).[0m ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.30sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.47sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801041 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801041 ms (missed cycles : 3).[0m ×2 + 9.88sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574465 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574465 ms (missed cycles : 3).[0m ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________________X] ×2 + 10.71sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). ×2 + 11.06sWARNros2_control_nodeCamera render tick took 0.61 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 + 11.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 11.15sINFOobjective_server_nodeFound path in 33 iterations (0.0329156 s). ×2 + 11.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180437 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180437 ms (missed cycles : 2).[0m ×2 + 11.75sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.62sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757447 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757447 ms (missed cycles : 3).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620406 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620406 ms (missed cycles : 3).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155859 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155859 ms (missed cycles : 3).[0m ×2 + 15.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.318ms + 15.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.750ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626887 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626887 ms (missed cycles : 3).[0m ×2 + 16.23sWARNros2_control_nodeCamera render tick took 0.53 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 + 16.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.736ms + 16.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.694ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4).[0m ×2 + 18.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.331ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3).[0m ×2 + 18.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788488511.21046758 seconds ×3 + 19.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.16sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4).[0m ×2 + 19.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488511.83018351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.24sINFOmove_groupClearing octomap...[0m ×2 + 19.24sINFOmove_groupOctomap cleared.[0m ×2 + 19.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.516ms + 20.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488512.75031567 seconds ×3 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3).[0m ×2 + 20.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488513.32390165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488513.88403511 seconds ×3 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2).[0m ×2 + 21.44sWARNros2_control_nodeCamera render tick took 0.59 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 + 21.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 21.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	110 errors · 41 warnings · 516 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.694ms + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.331ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3).[0m ×2 + 1.73sINFOjoint_trajectory_controllerGoal reached, success! + 1.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788488511.21046758 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488511.83018351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.516ms + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488512.75031567 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488513.32390165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488513.88403511 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2).[0m ×2 + 4.58sWARNros2_control_nodeCamera render tick took 0.59 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 + 4.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098187 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098187 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766484 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766484 ms (missed cycles : 3).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628203 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628203 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626364 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626364 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208533 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208533 ms (missed cycles : 2).[0m ×2 + 10.07sWARNros2_control_nodeCamera render tick took 0.52 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 + 10.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.64sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_video_auth_proxy-38process has died [pid 7794, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.64sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.65sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORweb_bridge_auth_proxy-37process has died [pid 7793, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.65sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.68sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.69sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.70sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.70sINFOvideo_server-36process has finished cleanly [pid 7792] ×2 + 10.71sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.72sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.73sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912981 ms (missed cycles : 2). + 10.74sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.75sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.76sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.77sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.78sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.79sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.80sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.82sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.82sINFOcontroller_managerShutdown request received.... + 10.82sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.83sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.83sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.83sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.83sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.83sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.83sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.83sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.83sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.83sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.83sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.83sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.83sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.83sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.83sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.83sINFOcontroller_managerShutting down the controller manager. + 10.83sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.84sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.86sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.86sERRORmove_group-24process has died [pid 7747, 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_jsfb3n3c --params-file /tmp/launch_params_nvp4pu28 --params-file /tmp/launch_params_vegb6rhe --params-file /tmp/launch_params_s_pwhacv --params-file /tmp/launch_params_6wt74yve --params-file /tmp/launch_params_sr4g2t17']. ×2 + 10.87sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.88sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.89sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.90sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.91sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.92sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.93sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.93sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.93sINFOmap_serverDeactivating + 10.93sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.94sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.94sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.94sINFOcontroller_serverDeactivating + 10.94sINFOlocal_costmap.local_costmapDeactivating + 10.94sINFOvideo_server2026/09/04 02:22:00 INF shutting down gracefully ×2 + 10.94sINFOvideo_server2026/09/04 02:22:00 INF [WebRTC] closing ×2 + 10.94sINFOvideo_server2026/09/04 02:22:00 INF [RTSP] closing ×2 + 10.94sINFOvideo_server2026/09/04 02:22:00 INF waiting for running hooks ×2 + 10.94sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOmap_serverCleaning up + 10.94sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.94sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.94sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912981 ms (missed cycles : 2).[0m ×2 + 10.94sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.94sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.95sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.95sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.95sERRORmove_groupStack trace (most recent call last) in thread 8422: ×2 + 10.95sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.95sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5194936a63, in __clone ×2 + 10.95sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f51948a9aa3, in ×2 + 10.95sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5194b3bdb3, in ×2 + 10.95sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f51952a0a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.95sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5194ecd620, in rclcpp::Rate::sleep() ×2 + 10.95sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5194e0fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.95sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5194dd1087, in ×2 + 10.95sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5194b0a390, in __cxa_throw ×2 + 10.95sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5194af4a54, in std::terminate() ×2 + 10.95sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5194b0a0d9, in ×2 + 10.95sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5194af4ff4, in ×2 + 10.95sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f51948358fe, in abort ×2 + 10.95sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f519485227d, in raise ×2 + 10.95sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f51948abb2c, in pthread_kill ×2 + 10.95sERRORmove_groupAborted (Signal sent by tkill() 7747 0) ×2 + 10.95sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.95sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.95sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.95sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.95sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.95sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.95sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.95sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.95sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.95sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.95sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.95sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.95sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.95sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.95sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.95sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.95sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.95sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.95sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.95sINFOodom_qos_relay.pymain() ×2 + 10.95sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.95sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.95sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.95sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.95sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.95sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.95sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.95sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.95sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.95sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.95sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.95sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.95sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.95sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.95sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.96sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.96sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.96sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.96sERRORamclThe bond connection to the lifecycle manager has been broken + 10.98sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.99sINFOcontroller_serverCleaning up + 10.99sINFOlocal_costmap.local_costmapCleaning up + 11.04sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.04sINFOsmoother_serverDeactivating + 11.04sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.05sINFOsmoother_serverCleaning up + 11.06sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.06sINFOplanner_serverDeactivating + 11.06sINFOglobal_costmap.global_costmapDeactivating + 11.11sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.11sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.12sINFOplanner_serverCleaning up + 11.14sINFOglobal_costmap.global_costmapCleaning up + 11.15sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.15sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.18sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.18sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.18sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.18sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.18sINFOvelocity_smootherDeactivating + 11.18sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.18sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.18sINFObehavior_serverDeactivating + 11.18sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.19sINFObehavior_serverCleaning up + 11.20sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.20sINFObt_navigatorDeactivating + 11.20sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.21sINFObt_navigatorCleaning up + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.29sINFOwaypoint_followerDeactivating + 11.30sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.37sINFObt_navigatorCompleted Cleaning up + 11.37sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.37sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.37sINFOvelocity_smootherCleaning up + 11.37sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.43sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.43sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.43sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.43sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.43sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.43sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.43sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.43sINFOwaypoint_followerCleaning up + 11.46sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.46sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.46sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.46sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.46sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.47sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.75sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7791] ×2 + 11.75sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.76sERRORcomponent_container_isolated-1process has died [pid 7626, 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_5s6zwiqw --params-file /tmp/launch_params_hjfzf3bm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.82sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7784] ×2 + 11.83sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7783] ×2 + 11.84sINFOui_teleop_bridge-33process has finished cleanly [pid 7789] ×2 + 11.86sINFOexecute_objective_bridge-32process has finished cleanly [pid 7788] ×2 + 11.86sINFOcomponent_container_mt-31process has finished cleanly [pid 7787] ×2 + 11.86sINFOparameter_manager_node-25process has finished cleanly [pid 7781] ×2 + 11.88sINFOwaypoint_manager_node-26process has finished cleanly [pid 7782] ×2 + 11.88sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7717] ×2 + 11.90sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7716] ×2 + 11.90sINFOstatic_transform_publisher-9process has finished cleanly [pid 7634] ×2 + 11.92sINFOstatic_transform_publisher-8process has finished cleanly [pid 7633] ×2 + 11.92sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.92sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.93sINFOlidar_flattener.pymain() ×2 + 11.93sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.93sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.93sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.93sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.93sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.93sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.93sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.93sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.93sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.93sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.93sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.93sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.93sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.93sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.93sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.93sINFOobjective_server_node[2026-09-04 02:22:01.387] [moveit_pro_license] [critical] ×2 + 11.93sINFOobjective_server_node************************************************* ×4 + 11.93sINFOobjective_server_node* MoveIt Pro License ×2 + 11.93sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.96sINFOstatic_transform_publisher-4process has finished cleanly [pid 7629] ×2 + 11.96sINFOstatic_transform_publisher-3process has finished cleanly [pid 7628] ×2 + 11.97sINFOcomponent_container_mt-30process has finished cleanly [pid 7786] ×2 + 11.98sERRORlidar_flattener.py-7process has died [pid 7632, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_r5ybgsn9']. ×2 + 12.00sINFOobjective_server_node_main-29process has finished cleanly [pid 7785] ×2 + 12.00sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.01sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7631] ×2 + 12.01sERRORodom_qos_relay.py-5process has died [pid 7630, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.28sERRORcomponent_container_isolated-2process has died [pid 7627, 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_5s6zwiqw --params-file /tmp/launch_params_ssd32hwu -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.48sINFOros2_control_node-12process has finished cleanly [pid 7718] ×2 + 13.57sINFOweb_bridge-34process has finished cleanly [pid 7790] ×2 + 13.57sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 96 warnings · 156 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.61 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 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654106 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654106 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.221ms + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022988 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022988 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101872 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101872 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788488355.35309625 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.287ms + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788488355.93089581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 4.44) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 4.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100710 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100710 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.024ms + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616014 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616014 ms (missed cycles : 3).[0m ×2 + 5.35sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508873 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508873 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118594 ms (missed cycles : 4). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118594 ms (missed cycles : 4).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670234 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670234 ms (missed cycles : 2).[0m ×2 + 8.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.316ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737863 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737863 ms (missed cycles : 2).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.582ms + 9.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.628ms + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830045 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830045 ms (missed cycles : 2).[0m ×2 + 10.47sWARNros2_control_nodeCamera render tick took 0.56 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 + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.353ms + 11.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.922ms + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817110 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817110 ms (missed cycles : 2).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.222ms + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736942 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736942 ms (missed cycles : 3).[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 13.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658062 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658062 ms (missed cycles : 3).[0m ×2 + 13.85sINFOobjective_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 + 13.85sINFOjoint_trajectory_controllerGot request to cancel goal + 13.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.86sERRORobjective_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: 1788488366.14088655 seconds ×3 + 13.96sWARNlocal_costmap.local_costmapSensor origin at (-0.44, 2.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.96sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 2.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.03sINFOamclParticle filter update iteration stats: 4652 particles 723 points - 8.652ms + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788488366.71806598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.250ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708572 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708572 ms (missed cycles : 3).[0m ×2 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817355 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817355 ms (missed cycles : 3).[0m ×2 + 15.72sWARNros2_control_nodeCamera render tick took 0.57 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 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640595 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640595 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	69 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.26sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788488263.04726195 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.69sWARNlocal_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. ×6 + 2.69sWARNlocal_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. ×6 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788488263.65243411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.563ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814150 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814150 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319274 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319274 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338208 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338208 ms (missed cycles : 3).[0m ×2 + 8.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788488269.42257237 seconds ×3 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071550 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071550 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.22sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788488271.00304079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.57sWARNros2_control_nodeCamera render tick took 0.53 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 + 10.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555656 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555656 ms (missed cycles : 3).[0m ×2 + 11.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823553 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823553 ms (missed cycles : 3).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685277 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685277 ms (missed cycles : 3).[0m ×2 + 12.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	64 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758671 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758671 ms (missed cycles : 5).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496506 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496506 ms (missed cycles : 5).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 0.60 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 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151953 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151953 ms (missed cycles : 5).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.42sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788488431.08822179 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.67sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.67sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788488431.65991545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.07sINFOobjective_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 3.237242 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237242 ms (missed cycles : 2).[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.864ms + 3.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740009 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740009 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951347 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951347 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 7.21sWARNros2_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 + 7.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 8.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 9.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.37sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.45sWARNros2_control_nodeCamera render tick took 0.55 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 + 12.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	48 warnings · 145 info
+ 0.00sWARNros2_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 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×6 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788488199.52111173 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788488200.09977078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.6033e-05 s). ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.10sWARNros2_control_nodeCamera render tick took 0.56 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 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927002 ms (missed cycles : 4). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927002 ms (missed cycles : 4).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946193 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946193 ms (missed cycles : 3).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 9.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788488205.64991426 seconds ×3 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745870 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745870 ms (missed cycles : 3).[0m ×2 + 9.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.97sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 10.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788488206.22711492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sWARNros2_control_nodeCamera render tick took 0.57 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 + 10.37sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.974ms + 10.43sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170696 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170696 ms (missed cycles : 3).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067289 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067289 ms (missed cycles : 3).[0m ×2 + 12.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279534 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279534 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.5s	32 warnings · 119 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.750ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626887 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626887 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.53 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 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.736ms + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.694ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.331ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788488511.21046758 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488511.83018351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.516ms + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488512.75031567 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488513.32390165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488513.88403511 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_control_nodeCamera render tick took 0.59 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 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098187 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098187 ms (missed cycles : 2).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766484 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766484 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	22 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.65sINFOmove_groupClearing octomap...[0m ×2 + 0.65sINFOmove_groupOctomap cleared.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sWARNros2_control_nodeCamera render tick took 0.55 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 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_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 + 2.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.61sINFOjoint_trajectory_controllerReceived new action goal + 4.61sINFOjoint_trajectory_controllerAccepted new action goal + 4.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	26 warnings · 71 info
+ 0.00sWARNros2_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 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788488199.52111173 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788488200.09977078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.6033e-05 s). ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.10sWARNros2_control_nodeCamera render tick took 0.56 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 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	26 warnings · 71 info
+ 0.00sWARNros2_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 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371772 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390311 ms (missed cycles : 3).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835017 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788488199.52111173 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788488200.09977078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.282ms + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549078 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.6033e-05 s). ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454575 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.10sWARNros2_control_nodeCamera render tick took 0.56 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 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090655 ms (missed cycles : 3).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms
− skipped	Close Gripper	close_gripper.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.21sINFOobjective_server_nodecaller: ×10 + 3.21sINFOobjective_server_nodetype: 0 ×10 + 3.21sINFOobjective_server_nodename: "" ×10 + 3.21sINFOobjective_server_nodeinstance_id: "" ×10 + 3.21sINFOobjective_server_node ×10 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNros2_control_nodeCamera render tick took 0.55 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 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 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 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927002 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927002 ms (missed cycles : 4).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946193 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946193 ms (missed cycles : 3).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788488205.64991426 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745870 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745870 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788488206.22711492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sWARNros2_control_nodeCamera render tick took 0.57 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 + 3.53sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.974ms + 3.59sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170696 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170696 ms (missed cycles : 3).[0m ×2 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067289 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067289 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279534 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279534 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788488263.04726195 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.69sWARNlocal_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. ×6 + 2.69sWARNlocal_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. ×6 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788488263.65243411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.563ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.62sINFOjoint_trajectory_controllerReceived new action goal + 3.62sINFOjoint_trajectory_controllerAccepted new action goal + 3.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788488263.04726195 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.69sWARNlocal_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. ×6 + 2.69sWARNlocal_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. ×6 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788488263.65243411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.563ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.62sINFOjoint_trajectory_controllerReceived new action goal + 3.62sINFOjoint_trajectory_controllerAccepted new action goal + 3.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788488263.04726195 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.69sWARNlocal_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. ×6 + 2.69sWARNlocal_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. ×6 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788488263.65243411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.563ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.62sINFOjoint_trajectory_controllerReceived new action goal + 3.62sINFOjoint_trajectory_controllerAccepted new action goal + 3.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788488263.04726195 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.69sWARNlocal_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. ×6 + 2.69sWARNlocal_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. ×6 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788488263.65243411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.563ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.62sINFOjoint_trajectory_controllerReceived new action goal + 3.62sINFOjoint_trajectory_controllerAccepted new action goal + 3.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	44 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719927 ms (missed cycles : 3).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.833972 ms (missed cycles : 4).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849583 ms (missed cycles : 4).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788488263.04726195 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.69sWARNlocal_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. ×6 + 2.69sWARNlocal_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. ×6 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788488263.65243411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.563ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096451 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.62sINFOjoint_trajectory_controllerReceived new action goal + 3.62sINFOjoint_trajectory_controllerAccepted new action goal + 3.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385785 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259491 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	44 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.695ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 3.16sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788488302.08316731 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788488302.66295552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sWARNlocal_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. ×6 + 3.82sWARNlocal_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. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.37sWARNros2_control_nodeCamera render tick took 0.59 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 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.209ms + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sINFOjoint_trajectory_controllerReceived new action goal + 6.57sINFOjoint_trajectory_controllerAccepted new action goal + 6.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	44 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.695ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 3.16sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788488302.08316731 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788488302.66295552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sWARNlocal_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. ×6 + 3.82sWARNlocal_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. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.37sWARNros2_control_nodeCamera render tick took 0.59 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 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.209ms + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sINFOjoint_trajectory_controllerReceived new action goal + 6.57sINFOjoint_trajectory_controllerAccepted new action goal + 6.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	44 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669734 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.695ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114582 ms (missed cycles : 3).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639137 ms (missed cycles : 3).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 3.16sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788488302.08316731 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781559 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788488302.66295552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sWARNlocal_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. ×6 + 3.82sWARNlocal_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. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.37sWARNros2_control_nodeCamera render tick took 0.59 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 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.209ms + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731159 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057068 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sINFOjoint_trajectory_controllerReceived new action goal + 6.57sINFOjoint_trajectory_controllerAccepted new action goal + 6.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.21sINFOobjective_server_nodecaller: ×10 + 3.21sINFOobjective_server_nodetype: 0 ×10 + 3.21sINFOobjective_server_nodename: "" ×10 + 3.21sINFOobjective_server_nodeinstance_id: "" ×10 + 3.21sINFOobjective_server_node ×10 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNros2_control_nodeCamera render tick took 0.55 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 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 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 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.21sINFOobjective_server_nodecaller: ×10 + 3.21sINFOobjective_server_nodetype: 0 ×10 + 3.21sINFOobjective_server_nodename: "" ×10 + 3.21sINFOobjective_server_nodeinstance_id: "" ×10 + 3.21sINFOobjective_server_node ×10 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNros2_control_nodeCamera render tick took 0.55 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 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 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 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	26 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314741 ms (missed cycles : 4).[0m ×2 + 0.82sWARNros2_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 + 0.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205820 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091634 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788488437.49004698 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788488438.08181429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825414 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962869 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005766 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal + 5.73sINFOjoint_trajectory_controllerAccepted new action goal + 5.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.06sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	26 warnings · 119 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.750ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626887 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626887 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_control_nodeCamera render tick took 0.53 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 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.736ms + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.694ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107288 ms (missed cycles : 4).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.331ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092744 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788488511.21046758 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763721 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788488511.83018351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.516ms + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788488512.75031567 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409523 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788488513.32390165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788488513.88403511 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888944 ms (missed cycles : 2).[0m ×2 + 5.72sWARNros2_control_nodeCamera render tick took 0.59 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 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	27 warnings · 309 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.21sINFOobjective_server_nodecaller: ×10 + 3.21sINFOobjective_server_nodetype: 0 ×10 + 3.21sINFOobjective_server_nodename: "" ×10 + 3.21sINFOobjective_server_nodeinstance_id: "" ×10 + 3.21sINFOobjective_server_node ×10 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNros2_control_nodeCamera render tick took 0.55 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 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 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 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.21sINFOjoint_trajectory_controllerReceived new action goal + 7.21sINFOjoint_trajectory_controllerAccepted new action goal + 7.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.21sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	29 warnings · 303 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 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 + 0.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.79sINFOobjective_server_nodecaller: ×10 + 3.79sINFOobjective_server_nodetype: 0 ×10 + 3.79sINFOobjective_server_nodename: "" ×10 + 3.79sINFOobjective_server_nodeinstance_id: "" ×10 + 3.79sINFOobjective_server_node ×10 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_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 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.36sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 7.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	26 warnings · 300 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 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 + 0.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 2.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.79sINFOobjective_server_nodecaller: ×10 + 3.79sINFOobjective_server_nodetype: 0 ×10 + 3.79sINFOobjective_server_nodename: "" ×10 + 3.79sINFOobjective_server_nodeinstance_id: "" ×10 + 3.79sINFOobjective_server_node ×10 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_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 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.36sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.21sINFOobjective_server_nodecaller: ×10 + 3.21sINFOobjective_server_nodetype: 0 ×10 + 3.21sINFOobjective_server_nodename: "" ×10 + 3.21sINFOobjective_server_nodeinstance_id: "" ×10 + 3.21sINFOobjective_server_node ×10 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNros2_control_nodeCamera render tick took 0.55 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 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 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 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.21sINFOobjective_server_nodecaller: ×10 + 3.21sINFOobjective_server_nodetype: 0 ×10 + 3.21sINFOobjective_server_nodename: "" ×10 + 3.21sINFOobjective_server_nodeinstance_id: "" ×10 + 3.21sINFOobjective_server_node ×10 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNros2_control_nodeCamera render tick took 0.55 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 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 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 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	27 warnings · 303 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916171 ms (missed cycles : 4).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.21sINFOobjective_server_nodecaller: ×10 + 3.21sINFOobjective_server_nodetype: 0 ×10 + 3.21sINFOobjective_server_nodename: "" ×10 + 3.21sINFOobjective_server_nodeinstance_id: "" ×10 + 3.21sINFOobjective_server_node ×10 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNros2_control_nodeCamera render tick took 0.55 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 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 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 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_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 + 5.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.78sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	22 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[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	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664003 ms (missed cycles : 4).[0m ×2 + 0.23sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899481 ms (missed cycles : 5).[0m ×2 + 1.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.81sINFOobjective_server_nodecaller: ×10 + 1.81sINFOobjective_server_nodetype: 0 ×10 + 1.81sINFOobjective_server_nodename: "" ×10 + 1.81sINFOobjective_server_nodeinstance_id: "" ×10 + 1.81sINFOobjective_server_node ×10 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788488153.84398389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788488153.85423398 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174345 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788488154.43164349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788488154.44339442 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788488155.01474285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788488155.16537166 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248540 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788488155.77422690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788488155.83437681 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796384 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788488156.41271687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183420 ms (missed cycles : 3).[0m ×2 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788172 ms (missed cycles : 3).[0m ×2